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.

The invention relates to a robot leg comprising at least two joints, each joint connecting two segments one to another, with each joint comprising a cam, the robot leg further comprising at least one actuator and a common tendon interconnecting each cam.

An energy storing assistive mechanism includes a barrel having a first pivot end and an open end, a rod having a first end that passes through the open end and is received in the barrel, an elastic structure including two ends that abut against the first end of the rod and the first pivot end, a uni-directional gear rack having a second pivot end away from the barrel, and a locking mechanism fixed to the rod, the locking mechanism comprising a locking member and an actuator assembly that is to drive the locking member to move between a first position where the locking member is engaged with the gear rack, and a second position where the locking member is disengaged from the gear rack.

The application discloses a beverage bottle holding and transport device for holding and transporting beverage bottles and similar containers.

A gripping device has at least one tendon associated with a gripping arm and guided in a freely slidable manner along a first and second arm portion thereof through a succession of guiding elements. The guiding elements associated with a first proximal arm portion of the arms are carried by an inner yielding panel so that when the inner yielding panel on the inner side of the first proximal arm portion engages against an item or component to be gripped, the guiding elements of the tendon carried by the inner yielding panel cause a tensioning of the tendon, which results in an articulation and/or inflection movement of a second distal arm portion with respect to the first proximal arm portion.

The invention relates to a manipulator (10) for pivoting an object of manipulation, the manipulator (10) having a frame comprising a pivot base which can be pivoted in a horizontal plane about a vertical pivot axis (11) relative to the frame by means of a drive (26), the pivot base having a boom (20) comprising a load carrier (15) which is disposed at a free end of the boom (20) and serves to be connected to the object of manipulation, the load carrier (15) having a pivot device for pivoting the object of manipulation in the horizontal plane, wherein, in order to produce a pivoting four-bar linkage formed in the horizontal plane and comprising the boom (20), a control bar (24) extending from the frame to the pivot device is provided, one end of the control bar (24) being articulated to the pivot device of the load carrier (15) and the other end being articulated to the frame via a control gear mechanism in such a manner that in the event of a base pivoting movement of the pivot base, a load carrier pivoting movement superimposed on the base pivoting movement is effected via the control gear mechanism and the control bar (24).

A gear device includes an internal gear, an external gear having flexibility configured to partially mesh with the internal gear and relatively rotate around a rotation axis with respect to the internal gear, a bearing disposed at an inner side of the external gear, and a cam section having an elliptical shape disposed at an inner side of the bearing and configured to move a meshing position of the internal gear and the external gear in a circumferential direction around the rotation axis. The bearing is deformed in an elliptical shape by the cam section and includes a plurality of balls disposed side by side in the circumferential direction and a holder including a plurality of partition walls disposed alternately with the balls in the circumferential direction and holding the balls. A gap is provided between the ball located on a major axis of the bearing and the partition wall adjacent to the ball in the circumferential direction. The ball located on a minor axis of the bearing is in contact with each of the partition walls adjacent to the ball at both sides in the circumferential direction.

A system and method for gripping a cylindrical object. The system including: a housing; a plurality of gripping arms in the housing, the gripping arms in pairs each on an opposite side of a centerline plane from another; and a driving wedge in the housing and configured such that movement of the driving wedge moves each pair of gripping arms towards or away from each other while remaining equidistant from the centerline plane. The method including: opening the plurality of gripping arms against a bias by sliding a wedge in a first direction to slide the plurality of gripping arms apart while maintaining an equal predetermined distance from a part alignment position; placing a cylindrical body between the plurality of gripping arms; and closing the plurality of gripping arms by sliding the wedge in an opposite direction to allow the biasing force to close the gripping arms.

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 porter module includes: a main body having a space formed between a left body and a right body spaced apart from each other in a left-right direction; a left pressing body disposed on the left body; a right pressing body disposed on the right body and disposed to face the left pressing body; and an adjusting mechanism installed in the main body and moving at least one of the left pressing body and the right pressing body to adjust an interval between the left pressing body and the right pressing body.