The invention relates to a robot with a base (3), a pivoting arm (4) which is articulated to the base (3) and which is pivotable about a rotational axis (13), wherein at the free end of the pivot arm (4) a pivotable mounting for a possible support arm (5) may be provided, and at least one drive unit (6, 7) for driving the pivot arm (4) and the possible support arm (5). According to the invention, a first drive unit (6) is coupled to a first four-bar linkage (8), a second four-bar linkage (9) is coupled to the first four-bar linkage (8) in such a way that the pivot arm (4) can be pivoted by the first drive unit (6).

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

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.

A gripping system including a pneumatic arm assembly, which includes an anchoring bracket, first and second pairs of arms pivotably attached to opposing sides of the anchoring bracket, and a connector bracket, pivotably attached to the first and second pairs of arms. Motion of the connector bracket results from motion of the first and second pairs of arms. A gripping assembly is mounted onto the connector bracket, and includes a pair of gripping arms adapted to grip an object. A pneumatic control assembly includes a pneumatic piston which drives motion of the first and second pairs of arms, the connector bracket, and the gripping arms. During the motion of the connector bracket and the gripping arms, an angle of the connector bracket and of the gripping arms relative to the x-y plane remains relatively constant.

Robotic limbs and methods of operating robotic limbs are described. In some embodiments, a robotic limb includes a chain and a growing point. The growing point is configured to selectively move links through the growing point, and to rotationally lock and/or unlock each link relative to adjacent links as they are moved through the growing point. In some embodiments, a robotic system includes two or more robotic limbs arranged in a parallel configuration. The growing points of the robotic limbs are connected such that the robotic system steers by selectively growing one robotic limbs relative to the other robotic limb(s). In some embodiments, a method of operating a robotic limb includes drawing a link of a chain into a growing point, rotating the growing point relative to a rigid portion of the chain, and locking a relative angle between the link and at least one other link of the chain.

A robot apparatus may include an upper arm adapted to rotate about a first rotational axis and a forearm rotatably coupled to the upper arm at a second rotational axis. A first wrist member may be rotatably coupled to the forearm at a third rotation axis. A second wrist member may be rotatably coupled to the forearm at the third rotation axis. A first end effector may be coupled to the first wrist member and a second end effector may be coupled to the second wrist member. The first wrist member and the second wrist member may be configured to rotate about the third rotational axis between a first pitch and a second pitch as a function of extension of the robot apparatus. Other apparatus and methods are disclosed.

Apparatus and methods that can be used to stabilize the distal end of an arm (and an end effector attached thereto) of an automated extended-reach tool-equipped assembly. Stabilization is provided by three or more stabilizers, each comprising a stationary part and a movable part. Each stationary part has a fixed location relative to the end effector; each movable part is translatably coupled to a respective stationary part and comprises a contactor disposed at a distal end of the movable part. When the stabilizers are actuated, the contactors are translated toward and into contact with the surface of the workpiece and then locked in place to stabilize the distal end of the arm and the end effector. During tool operation, the stabilizers reduce oscillation of the end effector (and all structure fixedly coupled thereto).

A housing can have a first attachment point for an actuator wherein the actuator can be attached to the housing and a pin lift plow. The wearable mechanical robotic device can have a rolling pin lock. A cam wherein the cam can rotate around an axis and can come into contact with a cam follower and the rolling pin lock. A plunger wherein the plunger can be attached to the cam follower wherein the plunger compresses a spring against a base. An outer frame having at least one guide for the rolling pin lock. The housing can have at least one second attachment point wherein at least one frame is attached to the housing by at least one fastener.

In accordance with an embodiment, the invention provides an end effector for use with a programmable motion device. The end effector includes a pair of mutually opposing surfaces, at least one of the pair of mutually opposing surfaces being movable with respect to an end effector support structure for supporting the at least one of the pair of mutually opposing surfaces.