A mechanical end effector for a humanoid robot includes a plurality of identical finger assemblies. Each of the finger assemblies is removably connected to a frame. Each of the finger assemblies is fully self-contained and operable independently of every other one of the finger assemblies and independently of every other component connected to the frame. Each of the finger assemblies includes a single electric motor and is configured to be fully operable using only the single electric motor.

An articulated robot arm comprises at least a first link and a second link rotatably connected to the first link by a joint unit, the joint unit comprising a shaft that is received in a housing of the first link, is rotatable around an axis relative to the first link, and is non-rotatably connected to the second link, and a drivetrain unit mounted inside the housing of the first link for rotating the shaft with an annular gap being formed between an outer side of the drivetrain unit and an inner side of the housing. At least one thermally conductive member is mounted in the annular gap and is disposed in thermal contact with the outer side of the drivetrain unit and the inner side of the housing.

The present technology relates to a moving body and an expansion/contraction linear motion mechanism enabling the moving body that includes the expansion/contraction linear motion mechanism to be downsized.

A moving body includes an expansion/contraction linear motion mechanism that expands and contracts in a first direction. The expansion/contraction linear motion mechanism includes a first link, a second link, a plurality of sprockets that includes a drive sprocket arranged on the first link and that is arranged on a plane parallel to the first direction, and a chain that connects the sprockets to each other, both ends of the chain being connected to the second link. The first link and the second link at least partially overlap in a second direction perpendicular to the plane. As the drive sprocket is driven, the first link and the second link move in the first direction so as to approach or separate from each other. The present technology can be applied to, for example, a leg robot.

An exoskeleton includes a frame; and an actuation system. The actuation system includes a transmission device; a passive joint mechanism connecting the frame to the transmission device, the passive joint mechanism having a four-bar linkage; and a drive system couples the passive joint mechanism to the transmission device, and is arranged to drive the transmission device.

A parallel kinematic machine (PKM) includes a support platform and first, second, and third support linkages. The first, second, and third support linkages together include at least five support links. The PKM further includes a tool base having a shaft joint, a tool base shaft, and a tool platform. The tool base shaft is connected to the support platform via the shaft joint, rigidly connecting the tool platform and the tool base shaft. The PKM also includes one or more tool linkages, each including a tool link connected at one end, via a tool base joint, to the tool base, and at the other end connected, via a tool carriage joint, to a movable carriage. Each tool linkage is configured to rotate the tool base shaft around at least one axis relative to the support platform by transferring a movement of the respective tool linkage to the tool base shaft.

Certain aspects relate to systems and techniques for optimizing the configuration of a robotic system by moving the links of the system in a null space to minimize a cost function. The null space being defined by the desired set of end effector pose. The cost function may be evaluated by computing the distance of the links from various avoidance zones. The avoidance zones are associated with collisions and joint limit conditions. The systems and techniques may specifically relate to a system wherein the optimization includes movement of an arm support. The system may be employed pre-operatively or intraoperatively to minimize collisions and joint limit event during the course of a procedure. The system may be used at intervals. The system may be used each time the end effectors are commanded into a new pose.

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 robot includes a first link having a first longitudinal passage extending therethrough and a second link having a second longitudinal passage extending therethrough. The second link is releasably engageable with the first link. The first longitudinal passage is in communication with the second longitudinal passage and each of the first longitudinal passage and the second longitudinal passage are configured to allow a common conduit to extend therethrough.

A robot arm includes multiple joints and multiple links which can be adjusted relative to one another by movements of the joints of the robot arm. Each driven joint is paired with a drive device, and each drive device is designed to adjust the robot arm joint paired therewith, namely by automatic actuation of a motor of the respective drive device. The robot arm has a distal end link designed in the form of a tool flange, a hand link arranged directly upstream of the distal end link in the kinematic chain of the joints and links and on which the distal end link is rotatably mounted about a flange rotational axis. An additional output link is rotatably mounted on the hand link about a rotational axis that is parallel to the flange rotational axis and which is arranged on the hand link so as to lie opposite the distal end link.

An animated figure system includes an animated figure comprising a flexible skin layer, an actuating system coupled to a connection location of the flexible skin layer, and an automation controller. The automation controller is configured to access a digital model of the animated figure, in which the digital model comprises a vertex associated with the connection location, determine a first positioning of the vertex within the digital model, and control the actuating system to set a second positioning of the connection location based on the first positioning of the vertex.