A supplementary metrology position coordinates determination system is provided for use with a robot. A first accuracy level defined as a robot accuracy (e.g., for controlling and sensing an end tool position of an end tool that is mounted proximate to a distal end of a movable arm configuration of the robot) is based on using position sensors (e.g., encoders) included in the robot. The supplementary metrology position coordinates determination system includes an imaging configuration, XY scale, image triggering portion and processing portion. One of the XY scale or imaging configuration is coupled to the movable arm configuration and the other is coupled to a stationary element (e.g., a frame above the robot). The imaging configuration acquires an image of the XY scale, which is utilized to determine metrology position coordinates that are indicative of the end tool position, with an accuracy level that is better than the robot accuracy.

A mechanical eyeball includes an outer housing shaped as an ocular surface configured to rotate about a first rotational axis and a second rotational axis that intersect at a fixed center point. The outer is housing is coupled to a mechanical assembly, and the mechanical assembly is contained within a volume associated with the mechanical eyeball. The mechanical assembly can include a stationary gear train and rotatable components that rotate relative to the gear train. The rotatable components are configured to cause rotation of the outer housing about one or more rotational axes. The volume may be substantially the same volume of a human eye. The mechanical assembly is coupled to one or more drivers configured to actuate rotation of the outer housing.

There is provided a vibration wave motor that includes a plurality of pressing parts separated by slits and can prevent an intervention member from protruding from the slits. The vibration wave motor includes a vibrator, a driven body configured to be brought into pressure contact with the vibrator and to move relative to the vibrator, a pressing member configured to move together with the driven body and to bring the driven body into pressure contact with the vibrator, and an intervention member intervening between the driven body and the pressing member, and configured to be pressed together with the driven body when the pressing member brings the driven body into pressure contact with the vibrator. The pressing member includes a plurality of pressing parts that is separated by slits and presses the intervention member. The intervention member is firmly fixed to the driven body.

A connection module includes a shaft member that can be rotated in place and can be lifted up and down, two wires arranged side by side and spirally wound on the shaft member, and an holder block connected with the bottom end of the shaft member and the bottom end of each wire such that the holder block drives the two wires to expand or to contract along the axial direction of the shaft member or to spiral in the axial direction of the shaft member when the holder block is driven by the shaft member. Thus, the connection module of the present invention can simplify the conventional complicated wiring mode, thereby saving operation space and reducing the risk of line breakage.

A method for monitoring acceleration of a number A of axes of a multi-axis kinematic system utilizes a sampling process with a first sampling interval, wherein a first acceleration limit value assigned to the first sampling interval and a second different acceleration limit value is determined for the acceleration, where a second time interval is assigned to the second acceleration limit value, a plurality of position values of the axis is determined by sampling with the first sampling interval, a current acceleration is calculated via the ascertained position values, and the calculated current acceleration is monitored via a first instance of monitoring utilizing the first acceleration limit value and the assigned first sampling interval and, simultaneously, via a second instance of monitoring utilizing the second acceleration limit value and the assigned second time interval, such that acceleration of an axis is monitored using at least two acceleration limit values simultaneously.

The operating safety of a robot is provided. The robot includes two elements that can move relative to one another, a joint with at least one degree of freedom, connecting the two elements; and a flexible elastic film surrounding the joint and attached to each of the two elements, the film being stretched between its attachments in at least one configuration of the two elements.

A method and apparatus are disclosed for assembling an end effector for an automated modular tool. A processor is programmed with data corresponding to a portion of a part surface at a designated location. A setting fixture is driven with a plurality of linear motion actuators to a selected three-dimensional location relative to an adaptor bar of the modular tool that is attached to a frame. A tool setting head is rotated with a rotary drive. A platen is tilted with at least one platen tilting motor and gear set to angularly orient the platen to correspond to an angular orientation of the portion of the part surface at the designated location. An end effector is then placed on the platen and secured with a tooling arm to the adaptor bar.

A feeding device includes a feed base that is horizontally installed, a first driving source and a second driving source, a first saddle, a second saddle, a first propeller shaft, a second propeller shaft, a first transmission device, a second transmission device, and a holding device. The first saddle rotates about a first axis that goes along a vertical direction. The second saddle is disposed at the first saddle. The second saddle rotates about a second axis. The second axis goes along a horizontal direction. The first propeller shaft transmits a torque from the first driving source. The second propeller shaft transmits a torque from the second driving source. The first transmission device transmits a rotation of the first propeller shaft to the first saddle. The second transmission device transmits a rotation of the second propeller shaft to the second saddle. The holding device holds the object.

Provided is a robot wrist structure provided with a first wrist element, a second wrist element, and a third wrist element. The first wrist element is provided with a casing having a hollow structure, two driving motors that drive the second wrist element and the third wrist element, and a conduit member that allows wiring to pass therethrough from an arm-side to a second-wrist-element-side in a direction along a first axis. A first opening and a second opening are provided in a first side wall and a second side wall that are positioned on either side of a reference plane. The first opening is large enough to allow the driving motors to pass therethrough. Centers of rotation shafts of the two driving motors are disposed between the first side wall and the reference plane. The conduit member is disposed between the second side wall. The wiring bypasses the driving motors.

An up/down section 4 of a robot arm mechanism includes: a pair of side frames disposed on a rotating section of a turning rotary joint; a cylindrical body supported in an axially rotatable manner by the side frames; a motor unit including a motor and a gearbox for rotationally driving the cylindrical body; connecting sections for connecting with an arm support body that movably supports an arm section; and a guide structure for guiding second pieces that were separated from first pieces into a columnar support section. The motor unit, connecting sections and guide structure are integrated with the cylindrical body. The motor unit is housed inside the cylindrical body, and an output shaft of the motor unit is connected to one of the side frames. The connecting sections are fixed to the outer circumferential surface of the cylindrical body. The guide structure is an annular body provided on the outer circumferential surface of the cylindrical body.