A link structure (1) includes: a first link (2); a target member to be moved (housing) (3) that is provided in the interior of the first link (2), and that is movable in the interior of the first link (2); a movement mechanism (4) that is fixed to the first link (2), and that is configured to cause the target member to be moved (3) to move in movement directions (M1, M2) along the first link (2) in response to power of a power part; and an action part (6) that is provided to the target member to be moved (3), and that is configured to act on a movement of a second link (8) mounted onto the first link (2).

A parallel link robot includes: a base portion; a movable portion; link portions coupling the base and movable portions; and actuators attached to the base portion and driving the respective link portions. Each of the link portions includes drive links swung around axes by the respective actuators, and two each of the passive links parallel to each other and swingably arranged between the drive link and the each of the movable portions. The robot includes a drive unit disposed parallel to the two passive links of at least one of the link portions and between the passive links and drives a mechanical unit attached to the movable portion. The drive unit is attached to the drive link with a joint, swingably coupling the drive unit to the drive link around at least mutually intersecting axes, on a straight-line coupling swinging center points of the passive links and the drive link.

A robot control apparatus includes a drive controller configured to control a plurality of motors which are configured to drive a plurality of link mechanisms of a parallel link robot, respectively, and abnormality determination circuitry configured to determine based on state data of the plurality of motors whether at least one of collision of the parallel link robot and dislocation in the link mechanisms occurs.

Certain aspects relate to systems and techniques for optimizing the configuration of a robotic system by moving the links of the system in a null space to minimize a cost function. The null space being defined by the desired set of end effector pose. The cost function may be evaluated by computing the distance of the links from various avoidance zones. The avoidance zones are associated with collisions and joint limit conditions. The systems and techniques may specifically relate to a system wherein the optimization includes movement of an arm support. The system may be employed pre-operatively or intraoperatively to minimize collisions and joint limit event during the course of a procedure. The system may be used at intervals. The system may be used each time the end effectors are commanded into a new pose.

A head mechanism includes a base connectable to a body of a robot, a mounting member arranged above the base, a connecting member rotatably connected to the base and the mounting member. The connecting member, together with the mounting member, is rotatable relative to the base about a first axis, and the mounting member is rotatable relative to the connecting member about a second axis. The first axis and the second axis extend in different directions. The head mechanism further includes two first actuating mechanisms fixed to the base, and the two first actuating mechanisms are configured to drive the mounting member to rotate with respect to the base.

A printing apparatus includes: a head having a discharge surface in which a discharge port is opened, a pressure chamber which communicates with the discharge port, and an actuator which is configured to change a volume of the pressure chamber; a carriage configured to move the head in a scanning direction; a conveyor configured to move an object in a conveyance direction crossing the scanning direction; a posture changing mechanism configured to change a facing posture of the head with respect to the object; and a controller configured to control the actuator, the carriage, the conveyor and the posture changing mechanism, based on image data, to execute alternately and repeatedly a scanning operation and a conveying operation.

A multi-backhoe linkage mechanism, operable for rotating an output link around an output axis of rotation of an output joint at a base, includes a first closed kinematic chain, including the output link, a connecting link, and an input link. The output link is connected via the output joint to the base and via a connecting joint to the connecting link. The connecting link is connected via a bridging joint to the input link. The first closed kinematic chain additionally includes a base link connected to the base and to the input link. One or more additional closed kinematic chains are connected in a series after the first closed kinematic chain. Each additional closed kinematic chain is connected to the previous closed kinematic chain such that actuation of the additional closed kinematic chain amplifies the angle of rotation of the output link around the output axis of rotation.

Provided is a support structure comprising a link member (a rod-like member), a clamp member disposed to surround the link member, and an elastic member disposed between the link member and the clamp member, the support structure supports the link member inside the clamp member via the elastic member, and the elastic member comprises a liquid impermeable material, and fills a space between the link member and the clamp member.

A wearable muscular strength assisting apparatus includes a base configured to be positioned on a wearer and extending vertically, a link unit, which is configured to be positioned so as to be laterally spaced apart from the base and is configured to be connected to the wearer's upper arm, front arm or hand, a first connector, which is rotatably coupled at one end thereof to the base and extends laterally and which is rotatably coupled at a remaining end thereof to the link unit so as to connect the link unit to the base, and a second connector, which is rotatably coupled at one end thereof to the base, and extends laterally and which is rotatably coupled at a remaining end thereof to the link unit so as to connect the link unit to the base.

A robotic system for applying a volatile fluid to a work-piece comprising a support structure configured to mount at least one spray nozzle while facilitating motion of the nozzle in multiple degrees of freedom. An encoder senses a position of the spray nozzle and issues a position signal indicative thereof. A pneumatically-driven motor effects displacement of the spray nozzle on the support structure along each degree of freedom. A controller disposed outside the boundaries defined by the structural support, is responsive to the position signals for controlling the pneumatically-driven motor to displace the spray nozzle while dispensing the volatile fluid. The pneumatically driven motor and the isolated spatial position of the controller prohibits a source of ignition for the volatile fluid sprayed by the nozzle.