A wrist of a robot arm includes a proximal end side connecting body, a first wrist link that rotates about a first wrist axis, a second wrist link that rotates about a second wrist axis, a distal end side connecting body that rotates about a third wrist axis and is connected to an end effector, and a wrist drive device including a drive source and interlock device. The interlock device causes the second wrist link to rotate by 2 about the second wrist axis and causes the distal end side connecting body to rotate by when the first wrist link rotates by arbitrary from a state where the first and third wrist axis overlap. Extending directions of the first, second, and third wrist axis are parallel to a predetermined plane, and a distance from the first to second and from the second to third wrist axis are equal.

A robot according to an embodiment includes a flange, a wrist arm, a forearm, and a feeder. The flange configured so that a welding torch is attached thereto and configured to rotate about a T axis. The wrist arm configured to rotate about a B axis substantially perpendicular to the T axis and configured to support the flange. The forearm configured to support the wrist arm. The feeder attached to a position between a base end and a tip end of the forearm and configured to feed a welding wire.

The present disclosure relates to a motor, in particular a compact, lightweight and high torque motor. The rotor comprises a Halbach array magnet structure in which the projected magnetic field is directed toward the rotation axis of the motor and the stator comprises a plurality of poles within the Halbach array. The individual magnets making up the Halbach array have a thickness in the radial direction, with respect to the rotation axis, which is determined to be the minimum thickness required to stop demagnetisation of the magnets when the maximum current to generate peak torque output of the motor is driven through the stator at the maximum expected temperature at which the motor will be used.

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.

A robot wrist structure includes a first wrist element that is supported by a forearm in a rotatable manner about a first axis; a second wrist element that is supported by the first wrist element in a rotatable manner about a second axis that is orthogonal to the first axis; and a third wrist element that is supported by the second wrist element in a rotatable manner about a third axis that is orthogonal to the second axis and that is disposed in the same plane as the first axis. Further the second wrist element is provided with, at a position at which the second axis is included, a second axial hollow hole that passes therethrough in a direction along the second axis.

Joints for facilitating relative motion between a first part of a machine, such as a robot, and a second part of the machine may include linear actuators connecting the first part to the second part and a shaft member connecting the first part to the second part. Each of the linear actuators may be oriented at an oblique angle relative to the shaft member. The first and second parts of the machine may be parts of a robotic arm, such as other robotic joints or an end-effector, such as a robotic hand. The joints may facilitate simulation of the movement and dexterity of human body parts, such as a human wrist and forearm.

A robot includes a robot main body including an A-arm which rotates around an A-rotation axis, a B-arm which is cantilevered off the A-arm and rotates around a B-rotation axis, and a C-arm which is connected to the B-arm, to which an end effector is attached, and which rotates around a C-rotation axis. The A-arm includes a first restriction that is not exposed to the outside of the robot main body. The B-arm includes a clamp which is connected to the end effector and restricts a position of a flexible wiring or pipe, a second restriction that is not exposed to the outside of the robot main body and contacts on the first restriction, and a hole through which the wiring or the pipe is inserted. The C-arm includes a through-hole which penetrates the C-arm along the axial direction of the C-rotation axis.

A three-degree-of-freedom parallel mechanism with curved sliding pairs includes a fixed platform, a moving platform, and three curved branches disposed between the fixed platform and the moving platform. Each of the curved branches includes a first curved link and a second curved link that share a common arc center. One end of the first curved link is connected to fixed platform by a rotational pair. One end of the second curved link is disposed in a cavity at another end of the first curved link. The second curved link is operative to perform a reciprocating motion along a tangent of an arc of the first curved link. Another end of the second curved link is connected to the moving platform by a ball joint. The axes of the three rotational pairs of the three curved branches coincide with each other and are perpendicular to the fixed platform. In the three-degree-of-freedom parallel mechanism with curved sliding pairs, the moving platform of the parallel mechanism is rotatable around the X-axis, Y-axis, and Z-axis of a three-dimensional coordinate system taking the arc center of the three curved branches as the origin, where the rotation of the moving platform about the Z axis is decoupled from the rotation in the other two orientations.

A 3 DOFs decoupling spherical parallel mechanism provided by the present disclosure comprises: a fixed platform, a rotation assembly, a moving platform, a first arc kinematic chain, a second arc kinematic chain, a first arc rod, and a second arc rod. In the 3 DOFs decoupling spherical parallel mechanism, the rotation assembly can drive the moving platform to rotate by 360 degrees around a direction being perpendicular to the fixed platform, and the first arc rod and the second arc rod reciprocate along tangential directions of the first arc kinematic chain and of the second arc kinematic chain respectively to enable the moving platform to rotate around an axis of a plane where the first arc kinematic chain or the second arc kinematic chain is located. In this way, the rotations of the moving platform in three directions are respectively driven by driving units in three directions and being independent from each other, such that the three rotation actions of the mechanism have decoupling capability.