An example robot includes: a leg having an upper leg member and a lower leg member coupled to the upper leg member at a knee joint; a screw actuator disposed within the upper leg member, where the screw actuator has a screw shaft and a nut mounted coaxial to the screw shaft such that the screw shaft is rotatable within the nut; a motor mounted at an upper portion of the upper leg member and coupled to the screw shaft; a carrier coupled and mounted coaxial to the nut such that the nut is disposed at a proximal end of the carrier; and a linkage coupled to the carrier, where the linkage is coupled to the lower leg member at the knee joint.

A power transmission unit of a drive mechanism has a link mechanism on both sides of a base portion. The link mechanism has a first link member having a base end portion provided to the base portion to be rotated about a third rotational axis, a second link member having a base end portion connecting the first link member's distal end portion to be rotated about a fourth rotational axis, and a third link member which is provided to a driven body to be rotated about a fifth rotational axis and to which the second link member's distal end portion is provided to be rotated about a sixth rotational axis orthogonal to the fifth rotational axis. A desired operation angle range of two degrees of freedom in a driven body can be ensured with a compact configuration while suppressing deflection of a structure to which the driven body is mounted.

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.

In various implementations a removable appendage of a robot can allow for stable pitch and yaw, while mitigating interference with other movements of the robot. A neck of the robot can include at least two linear actuators, each coupled to a rod that is driven to move linearly from the linear actuators. An appendage of the robot can be coupled to the neck. The appendage can include a at least two tracks, where each track receives an end of the rods to slidably engage the rod.

An assembly comprising a crank configured to rotate about an output axis; a first motor configured to rotate a first screw; and a first nut assembly configured to translate along the first screw in response to rotation of the first screw. The first nut assembly is coupled to the crank. The assembly further includes a second motor configured to rotate a second screw; and a second nut assembly configured to translate along the second screw in response to rotation of the second screw. The second nut assembly is coupled to the crank. Translation of the first nut assembly along the first screw is out of phase with translation of the second nut assembly along the second screw.

A gas supply stage includes a gas supply cabinet and a fastening vehicle. The gas supply cabinet includes a cabinet frame including an inner space configured to house a gas container and a holding module including a connector holder configured to be detachably fastened to a valve nozzle. The fastening vehicle includes a traveling unit configured to travel in a facility space in which the gas supply cabinet is installed, a multi-axis robot attached to the traveling unit, and a module gripper mounted to the multi-axis robot and configured to detachably grip a valve manipulation module and the holding module.

A surgical manipulator linkage assembly may comprise a linkage arm that includes a first pulley and a second pulley. Each of the first pulley and the second pulley comprise a first drive track and a second drive track. The first drive track and the second drive track are substantially co-planar, and the first drive track extends at least partially around the second drive track. The linkage arm also includes a first drive member section extending between the first drive tracks of the first pulley and the second pulley. The linkage arm also includes a second drive member section extending between the second drive tracks of the first pulley and the second pulley. The first drive member section is wound around the first pulley in a first tensile direction and the second drive member section is wound around the first pulley in a opposite second tensile direction.

A system, method, and apparatus for a robot system that manipulates the surface of an object effect programmed manipulation goals such as reaching specific locations on the surface of the object, displacing the surface of the object, applying a predetermined force and torque to the surface of the object, dynamically changing the contact point between the robot and the object, and applying force to structures below the surface of the object. The system and method determine the state of the object through a sensing method that includes, without limitation: torque and force measurement, visible light sensors, range and depth sensors, ultrasound sensors, thermographic sensors, and worktable force measurement.

A reconfigurable motion generator and control system for multi-phase motion generation. Reconfigurable motion generators are a new class of mechanical devices that are designed for a specific part family and their associated motion generation tasks. The reconfigurable motion generator may utilize revolute joints for link length and pivot adjustment to achieve different configurations from the same set of links. Due to the nature of adjustment of the mechanism this methodology may be used for different types of motion generation tasks such as (a) common start position, (b) common end position, (c) common intermediate position, and (d) distinct motion generation tasks with no common positions. This technique can be applied towards the synthesis of reconfigurable motion generators for use in many planar or spherical applications involving multi-phase function, path, and motion generation tasks.

An object processing system is disclosed that includes a plurality of track sections, and a plurality of remotely actuatable carriers for controlled movement along at least portions of the plurality of track sections, wherein each of the remotely controllable carriers is adapted to support and transport an object processing bin.