A cycloidal transmission for a drive includes a housing, a drive shaft, an eccentric, a cam plate, a pin plate, an output shaft, and a torque detection mechanism. The housing includes a first bearing, a second bearing, and a rolling ring. The drive shaft is rotatably mounted in the first bearing. The eccentric is fixedly connected to the drive shaft. The cam plate is driven by the eccentric. The cam plate is configured to roll in the rolling ring. Pins of the pin plate are configured to engage holes of the cam plate, so that the pin plate is driven by the cam plate. The output shaft is fixedly connected to the pin plate. The output shaft is rotatably mounted in the second bearing. The torque detection mechanism is between the first bearing and the second bearing and configured to detect the torque of the output shaft.

A joint arrangement for an articulated arm robot includes a first structural member and a second structural member which is mounted, in particular floatingly mounted, in a pivot bearing on the first structural member. A first cable has a first cable portion arranged on the first structural member and a second cable portion arranged on the second structural member. The first and second cable portions are connected in a first cable loop. In one embodiment the joint arrangement has a torque sensor.

An apparatus for supplying chemical liquid may include a gantry, a chemical liquid supply member providing a chemical liquid onto a substrate, and a moving device supporting the chemical liquid supply member and moving along the gantry. The moving device may include a moving member, load supporting members and absorbing members. The moving member may support one side of the chemical liquid supply member and may run over the gantry. The moving member may cover an upper face, a first side and a second side of the gantry. The load supporting members may support a load applied to the moving member and the gantry while maintaining a substantially constant distance between the moving member and the gantry. The absorbing members may absorb an impulsive load or an impulsive force applied to the moving member and/or the gantry when the moving member deviates from a moving path provided by the gantry.

A robot drive unit is provided with: a housing; a shaft body that is relatively rotated with respect to the housing; rotating-body sealing members that is provided in the housing; a contact-surface member that is provided on the shaft body and that contact with the rotating-body sealing members; and a sealing member that seals a gap between the shaft body and the contact-surface member.

An operation method for a link actuating device provided with a target value input unit having a height direction target value input portion that allows input of a movement amount in a height direction or a coordinate position in the height direction, which causes the distal end posture of the link actuating device to be changed only in the height direction along a central axis of a proximal end side link hub. An input converter is provided to calculate, by using an inputted value, a target distal end posture of the link actuating device. The input converter further calculates a command operation amount of each actuator from the result of the calculation, and inputs the command operation amount to the control device.

A self-propelled gripper installed on a robotic arm is provided. The robotic arm comprises a body and a tip axis. The self-propelled gripper comprises a housing, a rotation element, a moving element, and at least one claw body. The housing is fixed on the body. The rotation element is disposed in the housing and secured with the tip axis. The moving element is movably disposed in the housing and is connected to the rotation element. The moving element includes at least one slot. The claw body is pivoted on the housing and partially extends in the corresponding slot. When the rotation element rotates along with the tip axis, the rotation element drives the moving element to process a linear motion along a rotation central line so that the claw body pivotally rotates on the housing.

A robot arm comprising a plurality of limbs articulated relative to each other, the robot arm extending from a base to a distal limb carrying a tool or an attachment point for a tool, the distal limb being attached by a revolute joint to a second limb, and the robot arm comprising a motor having a body and a drive shaft configured to drive rotation of the distal limb relative to the second limb about the revolute joint, wherein the body of the motor is fast with the distal limb.

The invention relates a device for supporting two arms 4 of a user 2 wherein the device has two arm support elements 6, each of which has an arm shell 10 for placing on an arm 4, at least one passive actuator 26, which is configured to apply a force to at least one of the arm support elements 6, and at least one counter bearing 14 for the force to be applied, which comprises at least one counter bearing element 16 and at least two force transmission elements 18, which are configured to transfer a counter force from each of the arm support elements to the counter bearing element 16,
wherein the force transmission elements 18 are arranged on the counter bearing element 16 such that they can be moved relative to the counter bearing element 16, in particular they can be rotated about at least one rotational axis.

A system for use in surgery includes a central body, a visualization system operably connected to the central body, a video rendering system, a head-mounted display for displaying images from the video rendering system, a sensor system, and a robotic device operably connected to the central body. The visualization system includes at least one camera and a pan system and/or a tilt system. The sensor system tracks the position and/or orientation in space of the head-mounted display relative to a reference point. The pan system and/or the tilt system are configured to adjust the field of view of the camera in response to information from the sensor system about changes in at least one of position and orientation in space of the head-mounted display relative to the reference point.

A robot drive unit is provided with: a first member and a second member rotated about a axis; a housing fixed to the first member; an output shaft member supported by the housing so as to rotate about the axis and fixed to the second member; a hollow shaft fixed to the output shaft member, and supported by the housing so as to rotate about the axis; and rotating-body sealing members seal a gap between the housing and the output shaft member and a gap between the housing and the hollow shaft, respectively. The hollow shaft is provided with: a shaft body made of a non-ferrous material; and a contact-surface member made of a material having a higher surface hardness than the shaft body and forms a contact surface to be in contact with the corresponding rotating-body sealing member.