The invention pertains to the robotics, and discloses a manipulator and a robot. The manipulator comprises a connecting assembly; a plurality of finger assemblies, one end of each finger assembly connects to the connecting assembly, the other end is away from the connecting assembly to form a free end; each finger assembly includes a plurality of knuckle components which are successively connected, each knuckle component includes a base module, a tactile sensor and an angle sensor, the base modules are interconnected for implementing finger configuration, the tactile sensor is installed on the base module for sensing a target object, the angle sensor is installed on the base module for acquiring information of angle changing. The manipulator is provided with the tactile sensor and the angle sensor on the base module of each knuckle component, which is beneficial to improve the sensing ability of the manipulator. The manipulator is composed of modular knuckle components, each of the single knuckle components has high level of integration, which simplifies the structure and favors the manufacturing and inventory management of the components.

Provided is a robot and a control method thereof in which the motion of an arm 12 as a specified limb among a plurality of limbs 12 and 14 extended from a body 10 is controlled according to a specified trajectory. If a first interaction state, in which a hand 126, which is an end effector, interacts with a horizontal wood member L (j) of a ladder L in a first mode is implemented, then a control command is given to an actuator 41 that drives the hand 126 to cause the hand 126 to perform a grasping motion, thereby implementing a second interaction state, in which the hand 126 interacts with the horizontal wood member L (j) in a second manner. If the second interaction state is implemented, a control command is given to a brake 42 to maintain a motion halt state of the hand 126.

A handwheel assembly includes a housing. A shaft having a central axis is rotatably supported by the housing. A locking device is rigidly attached to the housing. A rotary gear is circumferentially disposed over the shaft. A handwheel is circumferentially disposed over the shaft. The rotary gear and handwheel are operable to slide along the shaft from a first locked position to a second unlocked position. In the first locked position, the rotary gear is engaged with the locking device to rotationally lock the shaft. In the second unlocked position, the rotary gear is disengaged from the locking device to allow the shaft to rotate.

Example systems and methods are described that are capable of gripping objects. In one implementation, a system includes a first finger that includes a plurality of teeth and a second finger that is mechanically coupled to the first finger and includes a plurality of teeth. The first finger and the second finger are configured to move apart when the first finger and the second finger are moved in a first direction against an object. The first finger and second finger are further configured to grip the object when the first finger and the second finger are moved in a second direction that is substantially opposite to the first direction.

A gripping mechanism includes: two gripping pieces pivoted relative to each other about a pivot axis; a base supporting at least one of the gripping pieces; a pulley rotatably supported about a rotation axis parallel to the pivot axis; a wire wound around the pulley, causing tensile forces that move the rotation axis in one direction to act, and transmitting a pressing force; and a force-receiving portion receiving the pressing force. The pulley is disposed so that a resultant force of the tensile forces of the wire acting on the rotation axis generates a moment causing the gripping pieces to be pivoted in a direction causing the gripping pieces to be closed. The force-receiving portion is disposed so that the pressing force applied from the wire generates a moment causing the gripping pieces to be pivoted in a direction causing the gripping pieces to be opened.

A handwheel assembly includes a housing. A shaft having a central axis is rotatably supported by the housing. A locking device is rigidly attached to the housing. A rotary gear is circumferentially disposed over the shaft. A handwheel is circumferentially disposed over the shaft. The rotary gear and handwheel are operable to slide along the shaft from a first locked position to a second unlocked position. In the first locked position, the rotary gear is engaged with the locking device to rotationally lock the shaft. In the second unlocked position, the rotary gear is disengaged from the locking device to allow the shaft to rotate.

A device for gripping an object that includes a main body having a first and a second endplate, a baseplate, at least one guide rail, and a first jaw and a second jaw, each receiving the at least one guide rail. The device also includes a first pulley assembly and a second pulley assembly respectively attached to the baseplate and a chain loop respectively attached to the first pulley assembly and the second pulley assembly. The chain loop includes a first chain length and a second chain length and a first link and a second link that attaches the first chain length and the second chain length. Each of the first link and second link include at least one dowel pin. The chain loop is attached to the first jaw and the second jaw by the at least one dowel pin of each of the first link and second link.

An air chuck includes: a finger support part including a pair of fingers; a chuck main body part including an operation mechanism operable to open and close the pair of fingers; and linking mechanisms that detachably link the finger support part to the chuck main body part. The linking mechanisms each include: a linking shaft that extends from the finger support part; a shaft insertion hole formed in a body of the chuck main body part; a catch body that becomes elastically caught on a catch surface of the linking shaft when the linking shaft is inserted into the shaft insertion hole; and a delinking member that is manually operated so as to release the catch body caught on the catch surface when the finger support part is detached from the chuck main body part.

Proposed are a gripping device and an assembling machine equipped with the same, the gripping device comprising a center error correction mechanism which has an upper structure, a lower structure and a limiter and a gripping finger opening and closing mechanism which has gripping finger fixed slide members and an actuator, so that, when the object is press-fitted into the fitting hole, the press-fitting force acting on the gripping fingers acts on the assembling machine through the gripping finger fixed slide members, the lower structure, elastic bodies, the limiter and the upper structure.

A soft robotic actuator is disclosed. The actuator includes a first portion with a substantially constant profile and a second portion with a regularly varying profile, and bends in a pressure-dependent fashion as the internal pressure within the actuator is increased or decreased.