Provided is a rotary actuator having a motor and a reduction gear that are arranged coaxially, wherein the weight of the rotary actuator can be reduced. For example, a rotary actuator is provided with: a motor having a rotary shaft and a drive magnet fixed to the rotary shaft; and a reduction gear 8 having an input shaft that is arranged coaxially with the rotary shaft and is coupled to the rotary shaft. The rotary shaft is provided with a cylindrical magnet fixing part, to which the drive magnet is fixed on the outer peripheral side. One end side of the input shaft is fixed to the inner peripheral side of the magnet fixing part. The rotary shaft is formed from a magnetic material, and the input shaft is formed from a material having a lower specific gravity than the magnetic material from which the rotary shaft is formed.

Provided is a torsional rotational joint mechanism that realizes simplification of a structure, reduction in weight, and falling-off prevention. The torsional rotational joint mechanism that is mounted to a robot arm mechanism includes a fixed section in a cylindrical shape, a motor unit that is housed in the fixed section, and a rotating section that is fixed to an output shaft 65 of the motor unit. A flange section in an annular shape is jutted out on an outer circumferential surface of a tip of the fixed section to project outward, and one or two or more falling-off prevention sections are attached to a rear end surface of the rotating section in such a manner that the flange section on the fixed section is sandwiched between the one or two or more falling-off prevention sections and the rear end surface of the rotating section.

A driving mechanism includes a first link, a second link that relatively swings or rotates with respect to the first link, a driving portion that is supported by the first link and that applies a driving force for driving the second link, a sensor that is disposed between the driving portion and the second link and that outputs displacements of the driving portion and the second link, and a wiring member that is supported by the first link, the second link, and the driving portion.

A working unit includes a tool rotation mechanism, a first turning mechanism turning the tool rotation mechanism about a first axis, and a second turning mechanism turning the tool rotation mechanism and the first turning mechanism about a second axis perpendicular to the first axis. The first turning mechanism includes a motor having a stator connected to the second turning mechanism and a hollow shaft-shaped rotor arranged inside the stator in such a manner that the rotor is capable of rotating about the first axis, and a second rotating body including one arm portion coupled to one end portion of the rotor, the other arm portion coupled to the other end portion of the rotor, and an arm coupling portion that couples the arm portions to each other. The tool rotation mechanism is provided on the second rotating body.

A workpiece conveying apparatus for a pressing machine includes: a first arm supported so as to be rotatable within a substantially horizontal plane; a second arm supported on the first arm so as to be rotatable within the substantially horizontal plane; a workpiece holding device supported on a distal end side of the second arm so as to be rotatable within the substantially horizontal plane; a first arm drive mechanism configured to drive the first arm to rotate; a second arm drive mechanism configured to drive the second arm to rotate with respect to the first arm; a workpiece holding device rotation drive mechanism configured to drive the workpiece holding device to rotate with respect to the second arm; and a tilt drive mechanism configured to drive the workpiece holding device to rotate with respect to the second arm.

A robot includes elbows connecting forearms rotatably to upper arms with two rotational degrees of freedom. The elbow includes: an elbow joint connecting the forearm and the upper arm with two rotational degrees of freedom; an elbow drive main link; an elbow drive auxiliary link; a forearm-side main link attaching unit attached with one end of the elbow drive main link with two rotational degrees of freedom, and provided in the forearm; an elbow-drive-main-link-side auxiliary link attaching unit attached with one end of the elbow drive auxiliary link with two rotational degrees of freedom, and provided on the elbow drive main link; and two linear actuators for moving two upper-arm-side link attaching units each attached with the other end of either the elbow drive main link or the elbow drive auxiliary link with two rotational degrees of freedom, and provided so as to be movable along the upper arm.

Systems, apparatuses, and methods are described herein 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. 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.

A robot arm mechanism includes first and second parallel link mechanisms connected in cascade. A first drive motor used to drive the first parallel link mechanism is installed in an upper part of a column. A second drive motor used to drive the second parallel link mechanism is also installed in the upper part of the column. Rotation of the second drive motor is transmitted to the second parallel link mechanism via a transmission mechanism. The transmission mechanism includes a first pulley pivotally supported coaxially with a pivot shaft at a rear end of a first link, a second pulley pivotally supported coaxially with a pivot shaft at a front end of the first link, and a transmission belt looped over the first and second pulleys.

A wearable cable-driven robotic arm system includes a wearing mechanism, two robotic arms located on two sides of the wearing mechanism, cable driving devices, a load trolley, and a motor controller, where the cable driving devices are divided into driving portions and driven portions, heavy objects, such as electric motors, of the driving portions are arranged in the load trolley, thereby reducing loads born by the wearable robotic arms, the load trolley can travel with a person by means of sleeves or can be controlled by the motor controller to move by means of signals measured by following modules, the driven portions are combined with the robotic arms, and are double-cable driven, thereby reducing weight of the robotic arms, and a brain-computer interface module is used for controlling the driving devices, thereby controlling the robotic arms more accurately.

A hydraulically operated tool adapted to remove coatings and surfaces from a substrate. The tool may comprise a robotic machine that includes a surface removal tool, a manipulator arm, and a rotation assembly. The manipulator arm may position the surface removal tool to a location along the substrate. The rotation assembly may adjust an angular position of the surface removal tool. A first end of the manipulator arm may be coupled to the surface removal tool, and a second end of the manipulator arm may be coupled to the rotation assembly. The manipulator arm may be hydraulically extended and retracted. The rotation assembly may comprise a spindle, and may be attached to a hinge pin and an air bladder. The rotation assembly may comprise a worm drive.