An apparatus is disclosed for transporting an object from one location to another location within a manufacturing environment. The apparatus comprises a rotary union extending along a first longitudinal axis and configured to rotate axially about the first longitudinal axis and translate longitudinally along the longitudinal axis, and a first drive extending along a second longitudinal axis and configured to support a first paddle assembly that is adapted to hold the object. The first drive is supported for movement by the rotary union, wherein the first drive is configured to move the paddle assembly in a first direction or a second direction opposite to the first direction with respect to the second longitudinal axis.

A robot includes an arm that has a plurality of arm members, a drive unit driving the plurality of arm members, and a grasp unit; and a force detector. The robot sequentially performs a contact operation in which a fitting member grasped by the grasp unit is moved in a predetermined contact direction and is brought into contact with a to-be-fitted member, a posture change operation in which a posture of the fitting member is changed to a fitting posture, and a fitting operation in which the fitting member in the fitting posture is moved in a searching direction and the fitting member is fitted into the to-be-fitted member in a fitting direction. The contact direction, the searching direction, and the fitting direction are directions different from one another.

The present invention relates to a variable rigidity robot joint system including a first driving module and a second driving module generating torque which is rotated on a first direction, a first rotating module changing rotations of the first driving module and the second driving module into rotations on a second direction intersecting the first direction when the first and second driving modules rotate in directions in which a joint is rotated in a same direction, thereby rotating the joint, a rigidity-providing member providing rigidity by elastically supporting a rotational movement of the first rotating module on the second direction, and a second rotating module changing rotations of the first driving module and the second driving module into a linear motion in the first direction when the first and second driving modules rotate in directions in which the joint is rotated in different directions.

An actuator includes an output link; an input member, wherein the output link and the input member are rotatable about an axis of rotation; an elastic member disposed between the output link and the input member and configured to allow transmission of torque between the output link and the input member about the axis of rotation, and to allow at the same time, as a result of elastic deformation of the elastic member, a relative rotation between the output link and input member about the axis of rotation; and a thermo-active module comprising one or more thermoplastic inserts, wherein the thermoplastic inserts are configured to apply a variable resistance between the output link and the input member and provide an adjustable damping between the output link and the input member.

Systems and methods for transferring a micro device from a carrier substrate are disclosed. In an embodiment, a mass transfer tool manipulator assembly allows active alignment between an array of electrostatic transfer heads on a micro pick up array and an array of micro devices on a carrier substrate. Displacement of a compliant element of the mass transfer tool manipulator assembly may be sensed to control alignment between the array of electrostatic transfer heads and the array of micro devices.

Disclosed herein is a tool-inclining system, which is characterized in that it is provided with a structure that is simple, compact, and able to operate according to an altogether reliable mode of operation. The system comprises: a base for securing said system to a structure that is to carry said tool, such as a robot arm; a support on which said tool is to be fixed, said support being configured in such a way that said tool fixed to said support defines a working axis (S); a connection member for connection of said support to said base, said member allowing a given angular movement of said support so that said working axis displaces, starting from a neutral position, according to a tilting movement; and fluid countering means or elastic countering means, which act on said support so as to exert an action that counters said tilting movement.

An apparatus for automated contact tasks and a related method are described. The apparatus includes a mechanical interface for connecting the apparatus to a manipulator, a holder for receiving a tool and being movable in relation to the mechanical interface, at least one actuator for positioning the holder in relation to the mechanical interface, a sensor unit that senses the actuator force provided by the at least one actuator, and a control unit that sets the actuator force to a desired minimum force to press the holder against a stop, while there is no contact between the tool and a surface, and detects contact when the holder moves in relation to the mechanical interface in opposition to the direction of the desired minimum force. The control unit further regulates the actuator force according to a pre-programmed contact force time-characteristic, when contact between the tool and the surface has been detected.

An elastic section 13 is configured by a first elastic section 13a that has one end connected to an outer circumferential surface of an inner circumferential section 12, and the other end connected to an inner circumferential surface of an outer circumferential section 11, and a second elastic section 13b that is symmetrical to the first elastic section 13a about a line that passes through a center point P1 of the inner circumferential section 12 and a connection point P2 of the inner circumferential section 12 and the first elastic section 13a. When the outer circumferential section 11 and the inner circumferential section 12 relatively rotate, the first elastic section 13a and the second elastic section 13b are elastically deformed in such a manner that one is compressed and the other is stretched.

A DNA-structured linear actuator comprised of a ladder-like structure that twists to generate linear motion. In its base state, the DNA structured linear actuator best resembles a rope ladder. When this ladder is twisted, it takes on the appearance of a DNA double-helix structure. By application of a torsional force on one end, the ladder-like structure extends or contracts to allow linear translation of one end of the structure.

A kinematic holding system for a placement head of a placement apparatus comprises a placement head alignment device which comprises at least one length-variable holding member arranged at a distance from a joint between a placement head support and the placement head. This holding member determines the pivoting position of the placement head relative to the placement head support. The length of the holding member is changeable during the placement operation depending on a deformation of the placement head guide device caused by the pressing force of the placement head against the substrate in such a way that an axis error (tilt) of the placement head caused by the deformation of the placement head guide device is compensated.