The invention discloses a bionic wrist joint based on an asymmetric 3-RRR parallel mechanism, including: an asymmetric 3-RRR parallel mechanism and a drive unit. The asymmetric 3-RRR parallel mechanism includes: a moving platform, a first static platform, and three asymmetrically distributed parallel branch chains, wherein each branch chain includes a passive rod and an active rod. An end of the active rod is connected to the first static platform via the revolute pair, and another end thereof is connected to the passive rod via the revolute pair. The axes of the revolute pairs at two ends of the active rod form an axis included angle. Three axis included angles are different, the passive rod and the moving platform are connected by the revolute pair, and three axis included angles corresponding to the passive rods are different. The drive unit is configured to drive the asymmetric 3-RRR parallel mechanism to move.

A three-rotational-degree-of-freedom connection mechanism required for a robot that can make motion similar to a human has a simple structure, and there is no restriction on motion within a movable range. The three-rotational-degree-of-freedom connection mechanism includes a joint connecting a second member rotatably to a first member with three rotational degrees of freedom including rotation around a torsion axis, three actuators each including variable length links having a variable length, and power sources for generating force changing the lengths of variable length links and three first-member-side link attaching units provided in first member and the second-member-side link attaching units provided on the second member such that variable length links having a twisted relationship with respect to a torsion axis exist in each state within a movable range of joint.

A support device supports a component gripping device including an engagement part to be engaged with a predetermined component. The component gripping device grips the component in a state in which the engagement part is caused to be engaged with the component. The support device contains a support body part, a first shift mechanism part, a second shift mechanism part, a third shift mechanism part, a first rotation mechanism part, a second rotation mechanism part, and a third rotation mechanism part.

A robot manipulator includes: an arm body; a wrist effector, connected to the arm body; a multi-degree-of-freedom (DOF) connecting device, rotatably connected to the wrist effector; and a grabber, connected to the multi-DOF connecting device, wherein the multi-DOF connecting device is configured to receive a power output by the wrist effector and drive the grabber to rotate.

The present application discloses a wide-field-of-view anti-shake high-dynamic bionic eye. A trajectory tracking method based on a bionic eye robot includes: establishing a linear model according to a bionic eye robot; establishing a full state feedback control system on the basis of the linear model; in the full state feedback control system, acquiring an angle and an angular acceleration required for a joint in a target tracking process of the bionic eye on the basis of a preset trajectory expectation value and a preset joint angle expectation value; the method further includes: adopting a linear quadratic regulator (LQR) to calculate a parameter K in the full state feedback control system, and minimizing energy consumption by establishing an energy function, so as to optimize the coordinated head-eye motion control of the linear bionic eye. The present application achieves the optimal control of the target tracking.

A wrist device for an industrial robot, the wrist device including a wrist housing; a first member; a second member; a first pinion rotatable about a first pinion axis; a first crown wheel for driving the first member, the first crown wheel meshing with the first pinion; a second pinion rotatable about a second pinion axis; a second crown wheel for driving the second member, the second crown wheel meshing with the second pinion; and an integral pinion housing fixedly attached to the wrist housing, the pinion housing supporting the first pinion for rotation about the first pinion axis and supporting the second pinion for rotation about the second pinion axis. An industrial robot including a wrist device, and a method of assembling a wrist device for an industrial robot, are also provided.

A robotic surgical instrument, comprising: a shaft; an end effector element; an articulation at a distal end of the shaft for articulating the end effector element, the articulation comprising: a first and second joint permitting the end effector element to adopt a range of configurations relative to a longitudinal axis of the shaft, the first joint being driveable by a first pair of driving elements having a first positional accuracy requirement and the second joint being driveable by a second pair of driving elements having a second positional accuracy requirement lower than the positional accuracy requirement of the first pair of driving elements; and an instrument interface at a proximal end of the shaft, comprising: a chassis formed from the attachment of a first chassis portion to a second chassis portion, the first chassis portion comprising a mounting surface to which the shaft is mounted; wherein the first pair of driving elements are secured relative to the first chassis portion.

A robot arm comprising a first arm segment and a second arm segment coupled to each other by a first revolute joint having a first rotation axis and a second revolute joint having a second rotation axis non-parallel to the first rotation axis, and a joint mechanism for articulating the first arm segment relative to the second arm segment about the first and second rotation axes, the joint mechanism comprising: a first driven gear disposed about an axle coincident with the first rotation axis, the axle being fast with a first arm segment of the robot arm; a second driven gear disposed about the second rotation axis and fast with a second arm segment of the robot arm and fast with the first driven gear about the first rotation axis; a first drive gear configured to drive the first driven gear to rotate about the axle, the first drive gear being arranged to engage the first driven gear; a second drive gear for driving the second driven gear to rotate about the second rotation axis; and an intermediary gear arrangement arranged to engage the second drive gear and the second driven gear and being disposed about the first rotation axis, whereby rotation of the intermediary gear arrangement relative to the first arm segment about the first rotation axis can be driven.

An apparatus is used for inspecting a technical device using a borescope. The apparatus has a repeatedly plastically deformable and elongated carrier which is guidable in a deforming unit. The deforming unit has a stationary guide configured to axially guide the carrier at an outlet end and an actuator which is designed to axially guide the carrier and can be moved in at least one direction perpendicular to the gap between the guide and the actuator in order selectively to apply a bending moment to the carrier guided by the guide and the actuator. A borescope head is arranged at that end of the carrier which protrudes from the outlet end of the deforming unit.

A waterjet system in accordance with at least some embodiments includes a carriage, a motion assembly configured to move the carriage horizontally relative to a workpiece, and a cutting head carried by the carriage. The waterjet system can also include a kinematic chain through which the cutting head is operably connected to the carriage. The kinematic chain can include first, second, and third joints rotatably adjustable about different first, second, and third axes, respectively. The carriage and the first and second joints can be configured to move the cutting head along a path relative to the workpiece while the cutting head directs a jet toward the workpiece to form a product. The third joint can be configured to shift a kinematic singularity away from the path to reduce or eliminate delay and corresponding reduced cutting accuracy associated with approaching the kinematic singularity.