A palm-type mechanical gripper with variable-position and rotatable fingers and a dual-drive crank-slider parallel mechanism is provided with a crank-slider mechanism on the left side, which is an active driving structure and is driven by two stepping motors to respectively generate angular displacement of cranks and to change lengths of connecting rods, and a crank-slider mechanism on the right side, which is a driven mechanism and is driven at a constant speed by a pair of gears. The mechanical gripper is provided with three plate spring fingers, wherein two fingers are respectively installed on the connecting rods on left and right sides, and under the cooperative effect of the two stepping motors, the eccentricities of the cranks, the positions and angles of the two fingers respectively on the two connecting rods and the position of the other fixed finger can be changed through manual adjustment.

A computing system includes actuator control logic configured to generate and send control signals to an actuator of a mobile machine configured to drive direction and speed movement of a linkage on the mobile machine. The computing system also includes a control map generator system configured to receive sensor signals indicative of the direction and speed movement of the linkage on the mobile machine, and, based on the received sensor signals, generate a control mapping that maps the control signals to the direction and speed movement of the linkage of the mobile machine.

A guiding apparatus for remote medical treatments includes a first pivoting link pivotally connected to a pivot shaft, a second pivoting link pivotally connected to the first pivoting link, a driver pulley member capable of fixing the first pivoting link and the second pivoting link to each other through screw fastening, a driven pulley member capable of fixing the first pivoting link to the pivot shaft through screw fastening, and a locking wire connected to the driver pulley member and the driven pulley member to transmit a rotational force from the driver pulley member to the driven pulley member. As the driver pulley member rotates, the driven pulley member rotates together, so that the fixing of the first pivoting link and the second pivoting link to each other and the fixing of the first pivoting link to the pivot shaft is accomplished simultaneously.

A leg assembly of a robot comprising a waist includes a thigh rotatably coupled to the waist, a lower leg rotatably coupled to the thigh, a foot rotatably coupled to the lower leg, a servo fixe to the thigh, a first transmission mechanism configured to transmit motion from the servo to the thigh to drive the thigh to rotate with respect to the waist; a second transmission mechanism configured to transmit motion from the thigh to the lower leg to drive the lower leg to flex when the thigh move upward and extend when the thigh move downward; and a third transmission mechanism configured rotatably connected to the thigh and the foot in such a way that the foot dorsiflexes from an original position when the lower leg is flexing and rotates back toward the original position when the lower leg is extending.

A force transmission transmits forces received by three levers to an input gimbal plate having three support points. The input gimbal play may in turn transmit the force to a wrist assembly coupled to a surgical tool. The three axes of rotation for the three levers are parallel. Two of the levers may have half-cylinder surfaces at an end of the lever to receive a support point of the input gimbal plate. Two of the levers may be supported with one degree of rotational freedom orthogonal to the axis of rotation of the fulcrum. A spring may draw the second and third levers toward one another. Two levers may have stops that bear against the support points. The force transmission may include a parallelogram linkage that includes a rocker link pivotally coupled to the first lever and having a flat surface that supports the first gimbal support point.

A robot includes an actuator assembly, first and second parallel telescoping lead screw assemblies cantilevered from the actuator assembly, and an end effector supported by ends of the lead screw assemblies. The actuator assembly causes each lead screw assembly to independently deploy and retract.

A robot arm includes a plurality of links and a plurality of joints connecting the links for adjustment relative to one another. At least a first link has a first bearing pin, a second bearing pin located opposite the first bearing pin, and a second link connected in an articulated manner to the first link by one of the joints has a first bearing flange on which the first bearing pin of the first link is rotatably mounted, and has a second bearing flange on which the second bearing pin of the first is rotatably mounted. The first bearing flange of the second link has a circumferentially closed recess in which the first bearing pin of the first link is received, and the second bearing flange of the second link has a circumferentially open recess in which the second bearing pin of the first link is received. An opening in the circumferentially open recess has an opening width that is greater than the width of the second bearing pin of the first link, and the second bearing flange has securing structure with which the second bearing of the first link is secured to the circumferentially open recess of the second bearing flange.

This transfer device is a transfer device which transfers an object to be transferred and includes a pivoting arm supported by a frame and configured to be rotatably driven around a pivot axis, a main arm which is rotatably connected to the pivoting arm and to which a support part which supports the object to be transferred is connected at a distal end portion, and an inclination adjustment part which is slidably connected to the main arm in a longitudinal direction of the main arm and has a parallel link mechanism to adjust an inclination of the main arm.

In one embodiment, a mechanically over-damped actuator includes an output link comprising a lever and a torsion spring associated with the lever, wherein the lever has an initial equilibrium position and is pivotable about a pivot axis, wherein the spring opposes pivoting of the lever away from its initial equilibrium position such that the spring tends to return the lever to the equilibrium position.

A linkage mechanism includes a chest assembly of a robot; a servo arranged within the chest assembly and comprising an output shaft; a first linkage member including a first end and a second opposite end, the first end being connected to the output shaft; a forearm assembly rotatably connected to the second end of the first linkage member; and a second linkage member. Opposite ends of the second linkage member are rotatably connected to the chest assembly and the forearm assembly.