In one form there is disclosed an internally balanced involute-type speed reducer; the reducer comprising a stator stage, an input stage, an output stage, and a plurality of gear sets in mesh. In a further form there is disclosed an actuator assembly for a robot; said actuator assembly comprising a stator core located within an outer housing and subtended by inner and outer mounting hubs; said hub supporting a drive train and bearings within the actuator assembly. In a further form there is disclosed a transducer system operable in conjunction with the reducer or actuator assembly.

A three-rotational-degree-of-freedom connection mechanism required for a robot that can make motion similar to a human has a simple structure, and there is no restriction on motion within a movable range. The three-rotational-degree-of-freedom connection mechanism includes a joint connecting a second member rotatably to a first member with three rotational degrees of freedom including rotation around a torsion axis, three actuators each including variable length links having a variable length, and power sources for generating force changing the lengths of variable length links and three first-member-side link attaching units provided in first member and the second-member-side link attaching units provided on the second member such that variable length links having a twisted relationship with respect to a torsion axis exist in each state within a movable range of joint.

A magnetorheological (MR) actuator device comprising two or more MR actuator units. Each of the MR actuator units may include a motor, an MR fluid clutch apparatus operatively coupled to the motor to receive torque from the motor, the MR fluid clutch apparatus operable to generate a variable amount of torque transmission when subjected to a magnetic field. An output member is provided, a transmission operatively coupling the at least two MR actuator units to the output member, for the output member to receive torque from the MR actuator units. A controller for controlling the two or more MR actuator units to drive the output member, the controller driving the output member in at least an antagonistic mode in which the MR actuator units transmit torque in opposite directions to the output member. A collaborative mode may be provided to combined the torque of the two or more MR actuator units in a common direction on the output member.

A mechanical finger has a base. A proximal phalanx and a distal phalanx is provided with a first epicyclic joint between the base and proximal phalanx, and a second epicyclic joint between the proximal phalanx and the distal phalanx. A distal four-bar mechanism includes the proximal phalanx, the distal four-bar mechanism coupled to the distal phalanx. A nail is optionally provided and has a joint mechanism movably connecting the nail to the distal most one of the phalanges between a stowed position in which a grasping tip of the nail is concealed in the distal most one of the phalanges, and a deployed configuration in which the grasping tip projects out of the distal most one of the phalanges.

A surgical instrument including an end effector, a shaft assembly defining a longitudinal axis extending proximally from the end effector, a first drive operatively connected to a first portion of at least one of the end effector or the shaft assembly, and an activating mechanism operatively connected to the first drive. The first drive longitudinally translates relative to the longitudinal axis from a first drive position toward a second drive position to respectively actuate the first portion from a first portion position toward a second portion. The activating mechanism selectively direct translation of the first drive from the first drive position toward the second drive position by rotating from a first rotational body position toward a second rotational body position or translating from a first translational body position toward a second translational body position.

A surgical instrument includes a drive housing, a spline, a carriage, an elongate shaft assembly, an end effector, and an activating mechanism. The at least one spline includes a drive gear rotatable with the spline. The elongate shaft assembly extends from the carriage. The activating mechanism includes a barrel cam extending along a rotational axis and having a first cam profile radially extending about the rotational axis. The barrel cam is operatively coupled to the drive gear such that rotation of the drive gear is configured to actuate the activating mechanism to move at least a portion of the end effector. The first cam profile defines a plurality of slopes relative to the rotational axis such that the first cam profile is configured to drive movement of the end effector or the elongate shaft assembly at different rates according to the plurality of slopes.

A surgical instrument includes a drive housing, a spline, a carriage, an elongate shaft assembly, an end effector, and an activating mechanism. The spline includes a drive gear rotatable via the spline. The shaft assembly extends from the carriage. The activating mechanism is housed in the carriage and includes a barrel cam extending along a rotational axis. The barrel cam has a first cam profile radially extending about the rotational axis. The barrel cam is operatively coupled to the drive gear such that rotation of the drive gear is configured to actuate the activating mechanism to move at least a portion of the end effector. The first cam profile defines a first operational section, a second operational section, and an operational transition positioned between the first and second operational sections. The first and the second operational sections extend from the operational transition in opposite directions.

A robot manipulator includes: an arm body; a wrist effector, connected to the arm body; a multi-degree-of-freedom (DOF) connecting device, rotatably connected to the wrist effector; and a grabber, connected to the multi-DOF connecting device, wherein the multi-DOF connecting device is configured to receive a power output by the wrist effector and drive the grabber to rotate.

Disclosed herein is a joint unit including two facing gears that include respective two bevel gear members that face each other, and an intermediate gear that has a bevel gear member meshing with both the two bevel gear members. One of the two facing gears and the intermediate gear includes a first member including an inner circumferential portion of the bevel gear member of the one of the two facing gears and the intermediate gear; a second member including an outer circumferential portion of the bevel gear member of the one of the two facing gears and the intermediate gear; and a resilient member attached to one of the first member and the second member for normally urging the other of the first member and the second member to move in a direction along the directions of rotation of the one of the two facing gears and the intermediate gear.

A wrist device for an industrial robot, the wrist device including a wrist housing; a first member; a second member; a first pinion rotatable about a first pinion axis; a first crown wheel for driving the first member, the first crown wheel meshing with the first pinion; a second pinion rotatable about a second pinion axis; a second crown wheel for driving the second member, the second crown wheel meshing with the second pinion; and an integral pinion housing fixedly attached to the wrist housing, the pinion housing supporting the first pinion for rotation about the first pinion axis and supporting the second pinion for rotation about the second pinion axis. An industrial robot including a wrist device, and a method of assembling a wrist device for an industrial robot, are also provided.