Provided herein are actuation transmission lines used for robotic systems, for example, MRI guided robots, for image-guided robot-assisted surgical and medical intervention procedures. This actuation transmission lines may include any of the following: one or more sections of a flexible channel; one or more sections of a rigid channel in a connecting relationship with the one or more sections of a flexible channel; solid media disposed inside the channel; one or more mechanical links in contact with the solid media inside the channel electronically or mechanically linked to a power source; a fine-tuning module disposed in the flexible channel; and one or more media motion sensors.

An automatically positionable joint for a modular tooling assembly includes a first joint member; a second joint member that is rotatably connected to the first joint member; a motor for causing rotation of the first joint member with respect to the second joint member; and a first clutch that is movable between an engaged position in which the first clutch restrains rotation of the first joint member with respect to the second joint member and a disengaged position in which the first clutch permits rotation of the first joint member with respect to the second joint member.

The invention relates to an articulated arm robot for handling a payload, comprising a robot arm (R), which is attached to a base (1) that can be rotated about a first axis (A1), and at least two arm elements (2 and 3), which are arranged to form a kinematic chain and a first arm element (2) is mounted on the base (1) to pivot about a second axis (A2) that is oriented orthogonally relative to the first axis and a second arm element (3) which is attached to the first arm to be pivotal manner about a third axis (A3) that is oriented parallel to the second axis (A2).

Utilities (e.g., systems, apparatuses, methods) that reduce robotic assembly contention in media element storage libraries by rotating (e.g., flipping, swinging, etc.) a robot arm of a first robotic assembly mounted over a first of first and second spaced storage arrays in a storage library into a first position between the first storage array and a central reference plane disposed between and parallel to the first and second storage arrays to allow a robot arm of a second robotic assembly to slide or otherwise move past the robot arm of the first robotic assembly (e.g., in a direction along or parallel to an x-axis parallel to the first and second storage arrays), even when the robot arms of the first and second robotic assemblies are disposed at the same height (e.g., along a z-axis that is perpendicular to the x-axis) within the storage library.

[Solving Means] A parallel link robot includes a movable portion, a base, a plurality of drive sources, a plurality of links, and a tension member. The plurality of drive sources are attached to the base. The plurality of links are respectively connected to the plurality of drive sources. The tension member is connected between the movable portion and at least one of the plurality of links such that a bending tension is generated.

A rotational driving mechanism for driving a first member and a second member, which are part of a robot, to rotate relatively on a predetermined rotational driving plane by means of a linear motion actuator having a linear motion output shaft, includes: a first link unit with which the output shaft is connected, and which is arranged so as to be rotatable with respect to the first member through a first rotation shaft, and which is also arranged so as to be rotatable with respect to the second member side through a second rotation shaft; a second link unit which is connected with a first support shaft arranged at the first member side, and which is connected with a second support shaft arranged at the second member side, with a center distance between the first support shaft and the second support shaft being made constant.

A robotic wrist for a robotic arm includes a hybrid differential with a first cam, a second cam, a first differential input, and a second differential input. The first cam and the second cam are disposed about first and second pivots oriented along a first rotational axis. An abduction output is coupled to the second cam and has a second rotational axis transverse to the first rotational axis. The robotic wrist includes a first actuator, a second actuator, a first link coupling an output of the first actuator to the first differential input, and a second link coupling an output of the second actuator to the second differential input. Synchronous motion of the actuators causes flexion of the abduction output about the first rotation axis, and asynchronous motion of the actuators causes abduction motion of the abduction output about the second rotation axis.

A method includes using at least one processor to detect that a tool coupled to an end effector of a robot having multiple joints is contacting a surface. The robot includes multiple joint motors configured to control multiple motions of the multiple joints. One or more control systems are configured to control each of the joint motors in a joint position mode. The method also includes identifying, via the at least one processor, a first joint of the multiple joints in response to detecting that the tool is contacting the surface. The method also includes sending, via the at least one processor, a command to at least one of the one or more control systems associated with a first joint motor of the multiple joint motors that corresponds to the first joint. The command is configured to cause the at least one of the one or more control systems to operate in a torque mode. The method also includes sending, via the at least one processor, a joint torque value to the at least one of the one or more control systems. The at least one of the one or more control systems is configured to cause the first joint to apply the joint torque value via the first joint motor.

A robotic wrist includes a wrist frame, a first actuator having a first actuator output, and a second actuator having a second actuator output. A first mechanical linkage includes a first input coupled to the first actuator output and a first output coupled to the wrist frame. A second mechanical linkage includes a second input coupled to the second actuator output and a second output coupled to the wrist frame. A rotational position of the first output about a first axis is responsive to a position of the first actuator output. A rotational position of the second output about a second axis that is transverse to the first axis is responsive to a different between a position of the first actuator output and a position of the second actuator output.

A maintenance system is disclosed for assisting in maintaining an automated carrier system for moving objects to be processed. The maintenance system includes a plurality of automated carriers that are adapted to move on an array of discontinuous standard track sections, each said automated carrier including a carrier body that is no larger in either a length or width direction that a standard track section, and an automated maintenance carrier that is adapted to move on the array of discontinuous track sections, said automated maintenance system including a maintenance body that is larger in at least one of a length or width direction than the standard track section.