Parallel variable stiffness actuators are disclosed. The parallel variable stiffness actuator can comprise a spring and a variable-stiffness mechanism. The variable-stiffness mechanism can be configured to modulate a stiffness of the parallel variable stiffness actuator. The parallel variable stiffness actuator can further comprise a direct-drive motor arranged in parallel with the spring. A force of the direct-drive motor can be applied directly to a load. Resonant energy accumulation methods implemented by a parallel variable stiffness actuator are also disclosed. A stiffness of a spring can be changed when there is no energy stored by the spring. A resonant energy accumulation method where a force of a direct-drive motor can be applied in resonance with the oscillatory motion, while the stiffness of the parallel variable stiffness actuator can be changed to keep the amplitude of the oscillatory motion nearly constant.

A robot includes a first link having a first longitudinal axis operatively coupled to a second link having a second longitudinal axis such that rotation of the first link relative to the second link alternatively performs the following effects: elongation of the first link; pivoting of the first longitudinal axis relative to the second longitudinal axis; and rotation of the first longitudinal axis relative to the second longitudinal axis.

A joint structure of a robot according to the present disclosure includes: a first link whose one end is connected to a first member; a second link in which one end thereof is connected to the first link and an other end thereof is connected to a second member; and a first pivot that connects an other end of the first link to the one end of the second link. The joint structure also includes: a third link whose one end is connected to the first link at a position near the first pivot; and a slide part connected to the second link so as to be slidable. An other end of the third link is connected to the slide part.

A wrist of an arm robot includes a first motor, a first speed reducer, a second motor, a transmission shaft, and a second speed reducer. The first motor is arranged at a base and generates a first rotational drive force to rotate a first distal portion. The first speed reducer is arranged at the first distal portion, includes a hollow portion, and reduces a rotational speed of the first rotational drive force. The second motor is arranged at the base and generates a second rotational drive force to rotate a second distal portion. The transmission shaft is arranged at the first distal portion and passes through the hollow portion of the first speed reducer. The second speed reducer is arranged at the first distal portion, is arranged coaxial with the first speed reducer, and is arranged along an axial direction of the first speed reducer.

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.

The present disclosure relates to a joint assembly and a robot comprising a joint assembly, the joint assembly comprising: a joint housing, a first motor connecting the joint housing with a first link and the first motor being adapted to rotate the first link relative to the joint housing around a first axis, a second motor connecting the joint housing with a second link and the second motor being adapted to rotate the second link relative to the joint housing around a second axis non-parallel with the first axis, circuitry accommodated in the joint housing and comprising a first processing unit and a second processing unit, the first processing unit being adapted to control the first motor and the second processing unit being adapted to control the second motor. The first processing unit receives, from a first primary sensor, a first primary sensor signal indicative of a first motion characteristic of the first link relative to the joint housing and calculates the first motion characteristic of the first link relative to the joint housing at least based on the first primary sensor signal, and the second processing unit receives, from a first secondary sensor, a first secondary sensor signal indicative of the first motion characteristic of the first link relative to the joint housing and calculates the first motion characteristic of the first link relative to the joint housing at least based on the first secondary sensor signal.

Disclosed are a battery cell gripper and a battery cell transfer device including the same. A battery cell gripper includes a link frame that supports a configuration within the battery cell gripper, grip parts that are formed at one end of a grip body at a preset area and move away from or closer to each other to grip the battery cell, a hinge axis that allows the grip body to rotate around itself, an actuator, a panel that moves up and down by the actuator to adjust a gap between the grip parts and includes at least two guide grooves, and a grip projection that protrudes at the other end of the grip body or is connected in a protruding form and moves along the guide groove.

Provided is a working robot (1000), including an actuator mechanism (110) and a mobile robot (200). The mobile robot (200) further includes a robot body (10), a bracket (20) and a pushing mechanism (30). The bracket (20) is installed on the robot body (10) in a pitchable and rotatable manner, and actuator mechanism (110) is detachably installed on the bracket (20). The pushing mechanism (30) is installed in the robot body (10), and drivingly connected with the bracket (20) to drive the bracket (20) to rotate, so as to drive the actuator mechanism (110) to pitch up and down relative to the mobile robot (200).

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.

Provided is a parallel mechanism consisting of: a first module including a first plate having a first hollow formed therein; a second module disposed to be spaced apart from the first module, and including a second plate having a second hollow formed therein; and a power transmission unit provided in a space between the first and second modules, and including a third plate connecting the first and second modules in parallel, wherein the first and second modules form a symmetrical structure on the basis of the power transmission unit, a first range of motion in the first module is amplified, by means of the symmetrical structure, to a second range of motion that is wider than the first range of motion in the second module, a working space is formed in a space communicating with the first and second hollows, and the third plate is provided outside the working space.