A method and apparatus for performing an operation on a workpiece using a multi-axis compliant end-effector for attachment to a robotic device. The end-effector is positioned at a nominal location of a workpiece feature on which the operation is to be performed. The end-effector is passively aligned with the workpiece feature by contacting the end-effector with the workpiece feature. The operation is performed on the workpiece feature in response to aligning the end effector with the workpiece feature.

A metallurgic casting installation comprises a robot. The robot comprises a handling tool coupled to an arm of the robot by a coupling element. The coupling element comprises a tool interface rigidly coupled to the handling tool, and a robot interface rigidly coupled to the arm of the robot. The compliance of the coupling element can be controlled such that upon application of a load onto the tool interface, the tool interface can be moved relative to the robot interface, by translation along and/or rotation about one or more of a first, second and third orthogonal spatial axes X1, X2, X3. The coupling element is resilient in that upon release of the load, the tool interface returns to a reset position relative to the robot interface corresponding to a reset distance Dr separating the tool interface and the robot interface.

The present invention relates to a joint actuator, and a joint structure of a leg-supporting robot using the joint actuator. The joint actuator can reduce or control mechanical friction which a user can feel during use thereof, and is designed so as to be able to be flexibly driven since selective engagement of a gear part is possible.

An electromechanical system operates through physical interaction with an operator, and includes a plurality of joints providing multiple degrees of freedom (DOF), including actuated joints and unactuated joints. The unactuated joints are distal with respect to the actuated joints and are in redundant DOF to the actuated joints. The system includes a plurality of actuators each configured to actuate one or more of the actuated joints, and a plurality of sensors each positioned with respect to a respective one of the actuated and unactuated joints. Each sensor is configured to measure corresponding joint data indicative of a position or angle of the respective actuated or unactuated joints. A controller in communication with the sensors receives the measured joint data as feedback signals, generates control signals using the feedback signals, and transmits the control signals to the actuators to thereby control an actuation state of the actuators.

A tool gripping arrangement for loading an elongate tool having a lengthwise axis into a collet. The tool gripping arrangement includes a tool clamp comprising a pair of tool clamp grippers for clamping the tool along a clamping axis. The tool gripping arrangement further includes a mounting arrangement for mounting the gripping arrangement to a robot arm, the tool clamp being mounted for free rotation relative to the mounting arrangement.

A space-saving floating joint including a locking mechanism that locks a swing of a movable base with respect to a fixed base is provided. A floating joint includes: a fixed base; a movable base; a floating mechanism that floatingly supports the movable base swingably with respect to the fixed base; and a locking mechanism that fixes the movable base in a state of not being swingable with respect to the fixed base. The floating mechanism includes a spherical bearing having a spherical surface, and a spherical washer part that supports the spherical surface slidably. The locking mechanism is provided in an inner part of the spherical bearing.

A robot is provided, includes a hand configured to hold a workpiece, a floating unit having a tip-end part and a base-end part and having a joint configured to operate within a given operating range, the hand being attached to the tip-end part, and the tip-end part being movable with the base-end part, a robot arm is attached to the base-end part of the floating unit and configured to move the hand and the floating unit, and a control device having a robot arm controller configured to control operation of the robot arm. The robot arm controller moves the hand and the floating unit so that the hand is located at a temporary target position. The temporary target position is the hand movable to a target position by moving the tip-end part of the floating unit with the base-end part thereof, the tip-end part located at the temporary target position.

A method is for operating a manipulator that has a movement device, a compensating device, and a tool. In the method, a relative displacement of the compensating device, with respect to a target position, is sensed during setting-up and is taken into account in a subsequent control of the manipulator.

A spring assembly for a rotary-type series elastic actuator (SEA) for use in robotic applications. The SEA including a motor, gear transmission assembly, spring assembly, and sensors. In one example, a robotic joint may include the SEA as well as two links coupled with each other at the joint assembly. The two links may be designated as input and output links. Each link may have a joint housing body which may be concentrically connected via a joint bearing so that they freely rotate against each other. The housing frame of the SEA may be fixed at the joint housing body of the input link while the output mount of the spring assembly of the SEA may be concentrically coupled with the joint housing body of the output link.

A compensating element having first and second modules is disclosed. A locking mechanism which can be switched between a first and a second operating state is provided. The first module is connected firmly to the second module in the first operating state. The first operating state defines a zero position between the first and the second module. The first and the second module are connected to one another in the second operating state by a spring mechanism in such a way that they are movable relative to one another. The compensating element has a midaxis, and the first and the second module are arranged at least partially next to one another in the direction of the midaxis. A measuring system is also disclosed with which the relative position between the first and the second module can be measured. The first or second module includes an externally visible luminous surface. A luminous state of the luminous surface is dependent on the relative position measured by the measuring system.