A servo assembly includes a first speed reducer, a first motor, a first connecting member, a first control circuit board, a second speed reducer, a second motor, a second connecting member and a second control circuit board. The first control circuit board is electrically coupled to the first motor, and the second control circuit board is electrically coupled to the second motor. The output component of the first speed reducer and the first connecting member are coaxial and arranged along a first direction, and the output component of the second speed reducer and the second connecting member are coaxial and arranged along a second direction that is perpendicular to the first direction. The output shaft of the first motor is connected to the input component of the first speed reducer, and the output shaft of the second motor is connected to the input component of the second speed reducer.

A linkage mechanism includes a chest assembly of a robot; a servo arranged within the chest assembly and comprising an output shaft; a first linkage member including a first end and a second opposite end, the first end being connected to the output shaft; a forearm assembly rotatably connected to the second end of the first linkage member; and a second linkage member. Opposite ends of the second linkage member are rotatably connected to the chest assembly and the forearm assembly.

A robot includes one or more joints. At least the one joint includes: a first joint member and a second joint member disposed so as to be relatively rotatable around a predetermined axis; a reducer that relatively rotatably supports the first and second joint members around the axis on one side in a direction of the axis of the first joint member; and a bearing that supports the first and second joint members relatively rotatably around the axis and relatively movable in a direction along the axis on another side in the direction of the axis of the first joint member, the first and second joint members include respective flange surfaces perpendicular to the axis and facing each other in the direction of the axis, and each of the flange surfaces includes a screw hole or a through hole for closely adhering the flange surfaces by fastening of a bolt.

Example embodiments relate generally to robotic arm assemblies. The robotic arm assembly may include an arm segment and an end-effector assembly. The arm segment may include an elongated body, a first motor, and a second motor. The end-effector assembly may be securable to the arm segment. The end-effector assembly may include an instrument assembly, a first gear assembly, and a second gear assembly. The instrument assembly may include an instrument and an instrument gear. The first gear assembly may include a first primary gear and a protrusion portion. The protrusion portion may be configurable to drive the instrument assembly. The second gear assembly may include a second primary gear configurable to drive the instrument gear.

A manipulator apparatus for operating on articles is disclosed. The apparatus includes a column having a mounting portion for securing the manipulator to a base and an extensible portion that is moveable over an extension range with respect to the mounting portion in response to an actuation force provided by a column actuator. The apparatus also includes an arm mounted to the extensible portion of the column at an arm joint and rotatable about the arm joint in response to an actuation torque provided by an arm rotation actuator. The apparatus further includes an end effector operably configured to perform an operation on the articles, the end effector being mounted at an end effector joint disposed at an end of the arm distal to the arm joint, the end effector being rotatable about the end effector joint in response to an actuation torque provided by an end effector rotation actuator. The rotation of the end effector occurs within an end effector movement plane and the rotation of the arm occurs within an arm movement plane, the respective movement planes being substantially parallel to each other, and the extensible portion of the column is moveable in a direction normal to the respective movement planes and the extensible portion of the column causes the arm joint to be disposed to permit clearance for a full 360 rotation of the arm over at least a portion of the extension range of the extensible portion of the column to provide an operating range within which the end effector is able to move for operating on the articles.

Systems, apparatus, and methods to remove vehicle sensor debris are disclosed. A disclosed cleaning assembly for a vehicle includes a track coupled to the vehicle. The cleaning assembly also includes an arm adjustably coupled to the track and having a nozzle positioned on the arm. The arm is moveable, via the track, near an exterior surface of the vehicle that is associated with a vehicle sensor. The cleaning assembly also includes a first motor operatively coupled to the arm configured to move the arm along the track relative to debris positioned on the exterior surface. The cleaning assembly also includes a pump fluidly coupled to the nozzle configured to expel the fluid from the nozzle to remove the debris.

A system and related methods for operating a robotic system with a routing mechanism is disclosed herein. The routing mechanism may surround external components that extend across a link and connect to an end effector. The routing mechanism may include guides, brackets, or a combination thereof configured to maintain the external components along a predetermined path relative to the link, the end effector, one or more corresponding joints, or a combination thereof during movement of the link and/or the end effector.

A joint structure for a robot includes a first link and a second link, rotatably coupled to each other through a joint part. The joint part has a first rotary member so that an axial center thereof is oriented in a first direction and connected to the first link, and a pair of the second rotary members so that axial centers thereof are oriented in a second direction. A first linear-motion actuator is connected at a base-end part thereof to the second link and connected at a tip-end part thereof to the second rotary member. A second linear-motion actuator is connected at a base-end part thereof to the second link and connected at a tip-end part thereof to the second rotary member. The first rotary member is pivoted relatively to the second rotary members by pivoting the second rotary members.

A modular structure may comprise multiple mechanical linkages. The structure may undergo two-dimensional or three-dimensional shape transformations, such as bending, twisting, shearing, uniform scaling, and anisotropic scaling. These shape transformations may be actuated by applying force to one or more specific locations in the structure. Each of the linkages in the modular structure may comprise a four-bar linkage. The exact shape transformation that the structure undergoes may be determined by the type and location of the linkages in the structure.

Systems, apparatuses, and methods for a robotic manipulator that includes a base, a first segment, a first joint operatively coupling the base and the first segment, a second segment, and a second joint operatively coupling the first segment and the second segment are provided. The first joint is configured to rotate the first segment about at least two axes of rotation with respect to the base. The second joint is configured to rotate the second segment about at least one axis of rotation with respect to the first segment.