The invention pertains to a device for 3-dimensionally positioning a coupling component, which forms part of an actuator-driven coupling structure, wherein said device comprises at least a first coupling element that extends in a first longitudinal direction and can be bidirectionally displaced along its first longitudinal direction by means of a first actuator, a second coupling element that extends in a second longitudinal direction and can be bidirectionally displaced along its second longitudinal direction, which extends orthogonal to the first longitudinal direction, by means of a second actuator, and a lever with a longitudinal lever direction that is mounted pivotably about a pivoting axis, which divides the lever into a work arm and a power arm. The longitudinal lever direction of the lever either extends along the first longitudinal direction and its work arm is on its end fixed on the second coupling element such that it can be pivoted about the second longitudinal direction or the longitudinal lever direction of the lever extends along the second longitudinal direction and its work arm is on its end fixed on the first coupling element such that it can be pivoted about the first longitudinal direction. Furthermore the power arm of the lever is functionally connected to a third actuator in such a way that a torque, which acts upon the lever about the pivoting axis, can be generated.

A robot arm capable of being driven with a small force while having an enhanced rigidity includes a joint unit formed by stacking a plurality of link modules up against each other, and at least one driving device allowing the joint unit to pivot along at least one axis, wherein the driving device includes a cable disposed to pass through the plurality of link modules a plurality of times, a plurality of multi-turn pulleys configured to change a path of the cable when the cable passes therethrough, such that the cable passes through the plurality of link modules, and a driving unit configured to pull or push the cable such that the joint unit pivots.

A translatable end effector for a surgical robot includes a pair of linkage arms, an anchor adapted to be mounted to an arm of the surgical robot and a tool holder connected to the anchor through the pair of arms. The hinges at the anchor are pivotally and slidably coupled to the pair of arms to allow the arms to pivot and slide relative to the anchor hinges. The tool holder is configured to hold a surgical tool and has a pair of hinges that pivotally couple to the ends of the linkage arms. The hinges and the linkage arms are configured such that a longitudinal trajectory defined by the surgical tool is maintained as the tool holder translates upwardly and downwardly relative to the surgical robot arm.

A robot system includes: a first link that is a part of a robotic arm; a first motor that moves according to a rotation of the first link; a first sensor having a fixed location with respect to the first motor; and a memory configured to store first position information indicating a relative position of the first sensor with respect to a first reference position of the first motor.

A robot arm is provided. The robot arm according to an aspect of the present disclosure comprises a motor portion; a support connected to the motor portion; first and second links connected to the motor portion and movable in a vertical direction; a first gimbal coupled to upper ends of the first and second links, respectively; third and fourth links coupled to the first gimbal; fifth and sixth links coupled to lower ends of the third and fourth links, respectively; seventh and eighth links coupled to central areas of the fifth and sixth links in the vertical direction; a second gimbal coupled to upper ends of the seventh and eighth links; ninth and tenth links coupled to the second gimbal; eleventh and twelfth links coupled to lower ends of the ninth and tenth links; and a top portion coupled to upper ends of the fifth and sixth links and upper ends of the eleventh and twelfth links.

A robot includes: a chest; a pair of right and left upper limbs; and a pair of right and left shoulders connecting the right and left upper arms rotatably to the chest with two rotational degrees of freedom, respectively. The shoulder includes: a shoulder joint connecting the upper arm rotatably; a chest-side main link attaching unit provided; an upper arm main link attaching unit provided in the upper arm; an upper arm drive main actuator including an upper arm drive main link having a variable length and a power source for generating force changing the length of the upper arm drive main link; a chest-side auxiliary link attaching unit provided in the chest; an upper-arm-drive-main-link-side auxiliary link attaching unit provided in the upper arm drive main link; and an upper arm drive auxiliary actuator including an upper arm drive auxiliary link having a variable length and a power source for generating force changing the length of the upper arm drive auxiliary link.

The present invention comprises: a fixed four-node link in which four links are joined together in a hinged fashion, comprising a fixed link of which the position is fixed, a connecting rod positioned on the opposite side of the first link, an input-side transmission link connecting the end on one side of the connecting rod and the first link, and an output-side transmission link positioned on the opposite side of the input-side transmission link; an input link part to which an actuator is attached, and which is joined in hinged fashion between the two ends of the input-side transmission link; and an output link part which is fixedly joined to the output-side transmission link and is rotated by means of the output-side transmission link, and the one-degree-of-freedom link device according to the present invention and the robot arm using the same can be used to allow easy attachment and detachment between link devices and achieve smooth action in a robot arm in accordance with what is desired.

A robot arm according to the present invention includes: a shoulder joint assembly which is connected to an upper arm portion, and includes a drive unit for generating driving power; an elbow joint assembly which is provided between the upper arm portion and a forearm portion, and operates by being supplied with driving power from the drive unit; and a wrist joint assembly which is provided between the forearm portion and a hand portion, and operates by being supplied with driving power from the drive unit.

A device for the relative movement between an input member and an output member, the device comprising an input member (100); an output member (108); an intermediate member (104) coupling the input member (100) and the output member (108); a first kinematics bond (102) coupling the intermediate member (104) and the input member (100); the first kinematics bond (102) providing at least two rotational degrees of freedom; and a second kinematics bond (106) coupling the intermediate member (104) and the output member (108), the second kinematics bond (106) being adapted to transmit rotational motions between the intermediate member (104) and the output member (108) and to offset rotation axes of at least two rotational degrees of freedom of the output member (108).

A bin exchange system is disclosed that includes a plurality of automated carriers, each of which is adapted to be remotely movable on an array of track sections, at least one input station by which bins may be introduced to the array of track sections, at least one processing station in communication with the array of track sections wherein objects may be moved between bins, and at least one output station by which bins may be removed from the array of track sections.