A robot system includes a robot having an arm including a first arm coupled to a base and pivoting about a first pivot axis and a second arm coupled to the first arm and pivoting about a second pivot axis parallel to the first pivot axis, and a first motor pivoting the first arm about the first pivot axis, and a control apparatus having a first motor control unit that controls the first motor. The robot has an inertial sensor that detects an angular velocity about a roll axis of the arm or an acceleration in a tangential direction of a circle around the roll axis, and the first motor control unit controls the first motor based on the angular velocity or acceleration.

Disclosed herein are various robotic surgical devices and systems that include first and second elongate bodies, first and second driveshafts disposed through the second elongate body, and an in-line shoulder joint with a robotic arm coupled thereto. In certain implementations, the in-line shoulder joint has a differential yoke and a dual shaft disposed within the yoke lumen.

A servo and a robot with the same are provided. The servo comprises a servo body, an upper cover, a lower cover, and a gear set having a plurality of gears meshing with each other. The gear set is located in the servo body, and comprises an output gear located in the center of the servo body as seen from the cross section of the servo body.

A servo and a robot with the same are provided. The servo comprises a servo body, an upper cover, a lower cover, and a gear set having a plurality of gears meshing with each other. The gear set is located in the servo body, and comprises an output gear located in the center of the servo body as seen from the cross section of the servo body.

The present invention provides a device and a method for picking and collecting Brasenia schreberi based on a machine vision. The device for picking and collecting Brasenia schreberi includes a supporting mechanical arm, a collection device, two working mechanical arms, a picking manipulator, a grasping manipulator, a control box, and a visual system. The supporting mechanical arm is fixed on a front end of a boat; the two working mechanical arms are fixed on a front end of the supporting mechanical arm; the picking manipulator and the grasping manipulator are mounted on tail ends of the two working mechanical arms, respectively; and the collection device is fixed on the boat; the visual system determines a location of the Brasenia schreberi and sends the location to the control box; the control box controls the two working mechanical arms, the grasping manipulator, and the picking manipulator to complete the grasping and picking of the Brasenia schreberi; and then the collection device collects the Brasenia schreberi.

The present invention provides a device and a method for picking and collecting Brasenia schreberi based on a machine vision. The device for picking and collecting Brasenia schreberi includes a supporting mechanical arm, a collection device, two working mechanical arms, a picking manipulator, a grasping manipulator, a control box, and a visual system. The supporting mechanical arm is fixed on a front end of a boat; the two working mechanical arms are fixed on a front end of the supporting mechanical arm; the picking manipulator and the grasping manipulator are mounted on tail ends of the two working mechanical arms, respectively; and the collection device is fixed on the boat; the visual system determines a location of the Brasenia schreberi and sends the location to the control box; the control box controls the two working mechanical arms, the grasping manipulator, and the picking manipulator to complete the grasping and picking of the Brasenia schreberi; and then the collection device collects the Brasenia schreberi.

According to one aspect of the present disclosure, a rotor includes a plurality of permanent magnets and a support supporting the permanent magnet. The support includes at least one of an outside support fixed to a radial outside of the outer cores to circumferentially support an end face of the permanent magnet from both sides and an inside support fixed to a radial inside of the outer cores to circumferentially support the end face of the permanent magnet from both sides. Each of the outer cores includes an opposite face parallelly opposed to the end face of the permanent magnet in the circumferential direction. The outside support and the inside support each includes a support face circumferentially supporting the end face. The support face is disposed on a side closer to a center line of the permanent magnet than the opposite face in the circumferential direction.

A piezoelectric actuator includes a vibrating section including a piezoelectric element, a distal end face, and a recess opened on the distal end face and a protrusion section including a base that overlaps the recess in plan view of the distal end face and is fixed to the distal end face and a projection that is provided in the base and projects in an opposite direction of the distal end face, the protrusion section transmitting a driving force of the vibrating section to a driven section. In plan view of the distal end face, the projection is disposed within a range of the recess.

A piezoelectric actuator includes a vibrating section including a piezoelectric element, a distal end face, and a recess opened on the distal end face and a protrusion section including a base that overlaps the recess in plan view of the distal end face and is fixed to the distal end face and a projection that is provided in the base and projects in an opposite direction of the distal end face, the protrusion section transmitting a driving force of the vibrating section to a driven section. In plan view of the distal end face, the projection is disposed within a range of the recess.

A piezoelectric drive device includes a vibrator having a vibrating portion including a piezoelectric element, and a convex portion placed in the vibrating portion, an urging member including a base, a holding portion holding the vibrator, and a spring portion coupled to the base at one end and coupled to the holding portion at another end and urging the convex portion toward a driven unit, wherein d1>d2 in a natural state in which the vibrator is not urged by the urging member, where a separation distance between the one end and the convex portion along directions of the longitudinal direction is d1 and a separation distance between the other end and the convex portion is d2, and |d1−d2| in an urging state in which the vibrator is urged toward the driven unit by the urging member is smaller than |d1−d2| in the natural state.