An articulable mechanism includes a first link, a second link, and a joint structure coupling the first and second links to each other. The joint structure is configured to enable articulation of the first and second link relative to each other. A first pair of guide channels is defined by and extends through the first link. A second pair of guide channels is defined by and extends through the second link. A lining overlays one or more of at least a portion of the joint structure, the first guide channels, or the second guide channels. A pair of actuation elements extends respectively through the first guide channels, past the joint structure, and through the second guide channels. The lining provides an interior guide surface along at least part of a path of the actuation elements extending through the first and second guide channels and past the joint structure.

Disclosed herein is a robot with active variable stiffness and transmission mechanism, which is capable of simultaneously controlling the transmission ratio and stiffness of an actuation unit, thereby increasing the stiffness in a low transmission ratio range to enhance system bandwidth while decreasing the stiffness in a high transmission ratio range to make it resistant to system-applied shocks during operation.

A robot controlling device capable of preventing a rapid change in posture of a robotic arm due to a singular point. The robot controlling device brings a third rotational axis to on a circumference of a circle which is on a first rotational axis with a radius at a difference between a distance from the first rotational axis to a second rotational axis and a distance from the second rotational axis to the third rotational axis while changing posture of a horizontal robot to be holdable of a workpiece in an accommodating device, and moves the third rotational axis across a line connecting the first rotational axis and the second rotational axis, and moves the second rotational axis and the third rotational axis divided at the second straight line, connecting a center point of the workpiece accommodated in the accommodating device and the first rotational axis.

Disclosed herein are systems and methods directed to an industrial robot that can perform mobile manipulation (e.g., dexterous mobile manipulation). A robotic arm may be capable of precise control when reaching into tight spaces, may be robust to impacts and collisions, and/or may limit the mass of the robotic arm to reduce the load on the battery and increase runtime. A robotic arm may include differently configured proximal joints and/or distal joints. Proximal joints may be designed to promote modularity and may include separate functional units, such as modular actuators, encoder, bearings, and/or clutches. Distal joints may be designed to promote integration and may include offset actuators to enable a through-bore for the internal routing of vacuum, power, and signal connections.

A conveying robot/system configured to: (i) operate within limitations of spaces defined by shelving, (ii) remove or place an object in spaces defined by shelving and (iii) enable an object to be automatically placed at a conveying-in position of a conveying processing system and manipulate the object's posture so that the object's posture changes from the object being conveyed to the object being processed. The system includes one or more of a robot hand with a grasping portion, articulated link mechanism, object placing shelf, box body, key and a lock. In one version, the box body is a bill storage container of the type used to store currency, coupons and tickets in electronic gaming devices located in a casino environment.

A method in accordance with at least some embodiments of the present technology includes receiving, by a computing system operably associated with a robot, information corresponding to a position of an object in a working environment. The method further includes selecting, by the computing system and based at least partially on the information, a manipulation behavior for the object among a plurality of manipulation behaviors in a library of the computing system. The selected manipulation behavior includes repositioning the object and lifting the object after repositioning the object. At least one of repositioning the object and lifting the object is bimanual. Moreover, at least one of repositioning the object and lifting the object is nonprehensile. Finally, the method includes manipulating, by the robot, the object in accordance with the selected manipulation behavior.

Rotational drives may have at least two degrees of freedom. End-of-arm-tools may incorporate rotational drives. The end-of-arm-tools may include one or more linear adjustable assemblies and one or more rotational adjustable assemblies. The end-of-arm-tools may include various tools, such as magnetic grippers.

A variable stiffness mechanism for robotic applications. A robotic arm segment comprising two bodies pivotably coupled together at one end and having a generally elongate form factor. A spring-loaded carriage moves longitudinally along one of the two bodies and is in contact with the other body, such that the effective rotational stiffness of the pin joint is equal to the stiffness of the carriage spring multiplied by the distance between the pin joint and the spring. The distance between the pin joint and the spring can be varied using a motor and belt drive arrangement. A stopper may be coupled to the belt drive to lock the relative motion of the two bodies.

A substrate transport apparatus including a frame, a substrate transport arm connected to the frame, the substrate transport arm having an end effector, and a drive section having at least one motor coupled to the substrate transport arm, wherein the at least one motor defines a kinematic portion of the drive section configured to effect kinematic motion of the substrate transport arm, and the drive section includes an accessory portion adjacent the kinematic portion, wherein the accessory portion has another motor, different and distinct from the at least one motor, the another motor of the accessory portion is operably coupled to and configured to drive one or more accessory device independent of the kinematic motion of the substrate transport arm.

An apparatus includes a platform configured to traverse a stationary base along a motion path; a drive coupled to the platform; and a movable arm assembly. The movable arm assembly includes a pivoting base connected to the drive, first and second linkages connected to the pivoting base, each linkage having links connected via rotary joints and each link having at least one end-effector. The platform is configured to traverse the stationary base along a motion path in two opposing directions and the drive and the movable arm assembly are configured to cause independent and simultaneous movement and transfer of substrates from at least one of a first substrate holding area, a second substrate holding area, a third substrate holding area, or a fourth substrate holding area into or from a respective substrate workstation.