A caster module includes: an omni wheel, provided with an shaft groove; and an effector, received in the shaft groove, a case of the effector being rotatable relative to an inner wall of the shaft groove, and an output end of the effector being connected to the omni wheel and configured to drive the omni wheel to rotate.

A substrate transport apparatus including, a torsional motion driver member having an exterior perimeter circumscribing an axis of rotation of the torsional motion driver member, and a torsional motion follower member including a body portion and a bearing collar rotatably coupled to the body portion, the torsional motion follower member being coupled to the torsional motion driver member with a dimensionally substantially invariant interface, wherein the bearing collar is decoupled from the exterior perimeter of the torsional motion driver member so that the exterior perimeter, as a whole, is free of the bearing collar.

The disclosure discloses an electric-pneumatic hybrid-driving flexible manipulator with spring framework from plates of special-shaped thickness, including a screw shaft motor, an upper seat plate, guide coupling rods, linear bearings, a driving plate, a push plate, short push rods, connecting rods, a bottom seat plate, flexible fingers, a rotating finger holder, a long push rod, a small support, tension springs, single-head bellows muscles and a ridged push plate. The framework of the flexible fingers is a thickness special-shaped plate spring designed according to the principle of equal strength. In the disclosure, through the control of a motor, an angle between a finger knuckle and a grasped object can be adjusted to realize the adjustment of the position of a contact point. To adjust the position of the contact point of the grasped object, the acting point of the contact force and the direction of the acting force can be selected according to situations, so that the grasping is more accurate and reliable. At the same time, the angle between the finger knuckle and the grasped object can be adjusted to adapt to a larger change in size of the grasped object. In the disclosure, a pneumatic system is large in gain and the pneumatic bellows muscles are light, so that the response is quick and the buffering effect is good.

A robot manipulator includes: an arm body; a wrist effector, connected to the arm body; a multi-degree-of-freedom (DOF) connecting device, rotatably connected to the wrist effector; and a grabber, connected to the multi-DOF connecting device, wherein the multi-DOF connecting device is configured to receive a power output by the wrist effector and drive the grabber to rotate.

A surgical instrument holder includes a carriage, a housing, and a drive assembly. The carriage is configured for engagement to a surgical robotic arm and for supporting an instrument drive unit. The housing extends from the carriage and defines a channel. The drive assembly includes a pulley, a belt, and an annular member. The pulley is rotatably disposed within the housing and in operable engagement with a motor of the carriage such that actuation of the motor rotates the pulley. The belt is rotatably disposed within the housing and in operable engagement with the pulley such that rotation of the pulley effects rotation of the belt. The annular member is disposed within the channel of the housing and configured for non-rotatable receipt of an instrument drive unit. The annular member is in operable engagement with the belt such that rotation of the belt effects rotation of the annular member.

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.

The present invention relates to the field of intelligent robots, and more particularly to a subunit module for constructing a modular robot. The subunit module includes a first housing and a second housing which are disposed oppositely. The first housing and the second housing are rotatable relative to each other. Each of the two housings is provided with a docking part. The docking part is used to mechanically and electrically connect other robot modules adjacent to it. The subunit module further includes a control circuit. The control circuit is used for communicating with other robot modules. The subunit module receives control signals from other robot modules to control the relative rotation of the first and second housings of the subunit module; and/or the subunit module receives an external force so that the first and second housings rotate relative to each other.

The present invention discloses a shafting structure of an integrated joint for a collaborative robot, wherein two ends of a long input shaft are respectively a motor rear end and a flexspline end, and a harmonic gear drive is installed on the flexspline end; the motor rear end is coaxially provided with a motor rear end bearing set, a motor rear end inner race pressing ring, a motor rear end outer race pressing ring, a motor rear end outer race seat and a motor rear end angle encoder mounting seat; and the flexspline end is provided coaxially with a flexspline end bearing set, a flexspline end inner race pressing ring and the harmonic gear drive. In the present invention high-precision position feedback and control can be realized.

A speed reducer and a robot are disclosed. The speed reducer includes a rigid wheel, a flexible wheel and a flexible bearing; the rigid wheel is provided with a first fitting position and an inner wheel tooth set; the outer peripheral surface of a peripheral wall of the flexible wheel is provided with an outer wheel tooth set; in the axial direction of the rigid wheel, the tooth top of the outer wheel tooth set is provided with a first length, and the tooth root of the outer wheel tooth set is provided with a second length; the tooth top of the inner wheel tooth set is provided with a third length; the flexible bearing is provided with a fourth length; the second length and the third length are both greater than the first length, and the fourth length is greater than the second length.

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.