An electromechanical system operates in part through physical interaction with an operator, and includes a multi-axis robot, a controller, and a counterbalance mechanism connected to the robot. The counterbalance mechanism includes a base structure connected to a set of linkages, a pneumatic cylinder, a spring-loaded cam assembly, and an optional constant force spring. The linkages form a four-bar parallelogram assembly connectable to a load. The cylinder and cam assembly, and optional constant force spring, each impart respective vertical forces to the parallelogram assembly. The forces combine to provide gravity compensation and self-centering functions or behaviors to the load, enabling the load to move with a vertical degree of freedom when manually acted upon by the operator, and to return the load to a nominal center position.

A force transmission mechanism for a surgical instrument includes a worm drive, a lever arm, and an actuation element. The lever arm may include a follower member at a first end of the lever arm. The follower member engages the worm drive and is configured to be driven by the worm drive. The actuation element is connected the lever arm. The actuation element is configured to transmit force to actuate an end effector of the surgical instrument. Rotational movement of the worm drive imparts translational movement to the actuation element via the lever arm.

A workpiece delivery device includes: a base; a turning center part; a turning arm; a workpiece hand; a track turning mechanism; and a rotation control mechanism, in which the track turning mechanism has a turning drive part, a track turning transmission part, and a track guide part, the rotation control mechanism has a rotation restriction transmission part, a rotation control part, and a rotation restriction receiving part, the turning center part, the turning drive part, the track turning transmission part, the rotation restriction transmission part, and the rotation restriction receiving part are provided on the turning arm, the track guide part and the rotation control part are provided on the base, the rotation restriction receiving part is provided on a workpiece hand support shaft, and the rotation restriction transmission part and the rotation restriction receiving part are connected to each other by a connection part.

A modular robotic snake-arm assembly is described which is animated principally by an articulated drive shaft that threads the length of the snake-arm. The articulated drive shaft is driven by a motor in the fixed base. One or more clutch mechanisms in each segment couple with the articulated drive shaft so as to cause all snake arms further from the base to reorient in either one or two angles, in either direction. Snake-arm segments can be coupled end-to-end to form a robotic snake arm of great length.

A segmented bending system includes multiple linkages coupled to one another in a stacked arrangement. The segmented bending system also includes multiple rotation assemblies coupled to one another to extend through the multiple linkages. The multiple rotation assemblies include multiple cam members, and each cam member of the multiple members extends into a respective opening formed in a corresponding linkage of the multiple linkages. At least one cam member of the multiple cam members is offset from at least one other cam member of the multiple cam members in a circumferential direction about a center axis of the multiple rotation assemblies.

A joint locking mechanism of a passive robotic arm includes: an output assembly, including a joint output shaft, and a friction disk fixed to the joint output shaft; a braking assembly, including a threaded shaft arranged coaxially with the joint output shaft, a threaded sleeve threaded to the threaded shaft, a rotary disk connected fixedly to the threaded shaft, an end cap rotatable relative to the rotary disk, and a scroll spring generating a rotational force on the threaded shaft. The scroll spring has one end connected fixedly to the end cap and the other end connected to the rotary disk or the threaded shaft. The threaded sleeve is abutted tightly against the friction disk.

The invention relates to a curved spherical scissors linkage mechanism (1) comprising at least four linkage elements (2) each having a first end (3) and a second end (4); the linkage elements are arranged to form sides of one rhombus or parallelogram, or a series, such as a network, of joined rhombi or parallelograms. Each of the linkage elements is rotationally connected to one of the other linkage elements via a revolute joint (5) at or near the first end and is rotationally connected to another one of the other linkage elements via another revolute joint at or near the second end. The linkage elements are shaped, dimensioned and arranged so that the axes of all the revolute joints coincide at one common remote centre of motion (RCM). Furthermore, the mechanism is grounded or connected or connectable to a first external member (7) at a proximal end and is rotationally connected or connectable to a second external member (9) at an opposite distal end. Hereby a spherical linkage mechanism with three DOFs is obtained. The spherical scissors linkage mechanism may further comprise a motion controlling mechanism at the proximal and/or at the distal end. It further comprises actuator means as control means.

A joint locking mechanism of a passive robotic arm includes: an output assembly, including a joint output shaft, and a friction disk fixed to the joint output shaft; a braking assembly, including a threaded shaft arranged coaxially with the joint output shaft, a threaded sleeve threaded to the threaded shaft, a rotary disk connected fixedly to the threaded shaft, an end cap rotatable relative to the rotary disk, and a scroll spring generating a rotational force on the threaded shaft. The scroll spring has one end connected fixedly to the end cap and the other end connected to the rotary disk or the threaded shaft. The threaded sleeve is abutted tightly against the friction disk.

This disclosure relates generally to a mobile robotic manipulator with telepresence system which includes a chassis assembly, a tilting arm assembly, and a rotary gripper assembly. The chassis assembly includes a chassis plate which mounts plurality of drive motors coupled with plurality of omni wheels through plurality of L mounting brackets; plurality of anti-toppling arms includes a plurality of linear guides which is mounted on a C mount plate; and plurality of linear actuators is mounted to expand or retract the plurality of anti-toppling arms. The tilting arm assembly includes a bottom fixed end of a front long actuator is mounted to a large rotating plate through plurality of C clamps. The rotary gripper assembly includes a top plate of a gripper is mounted and separated by gap with a bottom plate of the gripper to place a gripper actuator on top surface of the bottom plate of the gripper.

A mechanical device for grasping an object without a power source includes a receiver and at least one grabber assembly secured to the receiver. The grabber assembly includes first and second arms with proximal end portions and distal end portions, hooks disposed at the distal end portions, and a mechanical linkage disposed near the proximal end portion of the first arm and the second arm. The mechanical linkage kinematically couples the first arm to the second arm. Displacement of the first arm or the second arm against the object causes movement of the mechanical linkage and thus movement of the second arm or first arm, respectively.