When the mass of the first moving body is defined as M1, the mass of the second moving body is defined as M2, the distance between a first intersection point of a perpendicular line from a rotation center of the rotation axis to the first moving body and a first gravity center of the first moving body when the distance between the first intersection point and the first gravity center in the first moving body is the shortest is defined as L1, and the distance between a second intersection point of a perpendicular line from the rotation center of the rotation axis to the second moving body and a second gravity center of the second moving body when the distance between the second intersection point and the second gravity center in the second moving body is the shortest is defined as L2, M2=(L1/L2)×M1 is satisfied.

A support arm interface for connecting a dynamic assist support arm to an exoskeleton structure having a chassis, a connection component on the chassis configured to pivotably attach a dynamic assist support arm thereto, a connection component on the chassis configured to attach an exoskeleton thereto and a leveling mechanism attached to the chassis and configured to level the dynamic assist support arm interface.

The present invention is to provide an industrial robot, which is placed in vacuum for use, capable of efficiently cooling down hand- or arm-driving motors which are arranged inside the arm in air. The industrial robot is provided with a motor for rotating a second arm unit with respect to a first arm unit, a motor for rotating a hand with respect to the second arm unit, a reduction gear for reducing the rotation of the motor and transmitting it to the second arm unit, and a reduction gear for reducing the rotation of the motor and transmitting it to the hand; the hand and the arm are placed in vacuum. The reduction gears and are coaxially arranged so that the center of rotation of the second arm unit with respect to the first arm unit coincides with the axial centers of the reduction gears. The interior space of the hollow first arm unit is kept at atmospheric pressure in which the motors and the reduction gears are arranged.

A cart for housing components of a medical navigation system is provided. The cart comprises a frame including a substantially horizontal base having a bottom side and a top side with wheels attached to the bottom side, a substantially vertical column attached to the top side of the base, and a ballast attached to the base to function as a counterweight to avoid tipping of the cart.

A method for operating a robot includes receiving a drive command to drive the robot across a work surface. The drive command includes a work mode command or a travel mode command. In response to receiving the work mode command, the method includes operating the robot in a work mode. In the work mode, the robot dynamically balances on a right drive wheel and a left drive wheel on the work surface, while keeping a non-drive wheel off of the work surface. In response to receiving the travel mode command, the method includes operating the robot in a travel mode. In the travel mode, the robot statically balances on the right drive wheel, the left drive wheel, and the non-drive wheel in contact with the work surface.

A testing system configured to determine at least one physical characteristic of a work piece. The testing system includes an effector frame having an effector interface configured for coupling with a manipulator assembly. The effector frame includes at least one torque sensor. A ballast bracket is configured for coupling between the at least one torque sensor and the work piece. The ballast bracket includes a sensor interface coupled with the at least one torque sensor, and at least one work piece latch configured for coupling with the work piece. A movable ballast assembly is coupled with the ballast bracket, and includes a counter ballast movably coupled with the ballast bracket and movable relative to the at least one torque sensor. A ballast actuator coupled with the counter ballast is configured to move the counter ballast relative to the at least one torque sensor.

A gravity compensation assembly including a main frame having one side connected to a weight body to be supported, and the other side where an inner rotation portion and an outer rotation portion spaced apart from each other and having rotation axis in an x-axis direction are coupled, an auxiliary frame having one side rotatably connected to the inner rotation portion of the main frame, and the other side where an auxiliary rotation portion having a rotation axis in the x-axis direction is coupled, and an elastic force providing having one side rotatably connected to the outer rotation portion of the main frame, and the other side coupled to the auxiliary rotation portion of the auxiliary frame, and configured to perform load compensation by an elastic force when a center of gravity changes as a relative angle of the main frame and the auxiliary frame changes may be provided.

A method for palletizing by a robot includes positioning an object at an initial position adjacent to a target object location, tilting the object at an angle relative to a ground plane, shifting the object in a first direction from the initial position toward a first alignment position, shifting the object in a second direction from the first alignment position toward a second alignment position, and releasing the object from the robot to pivot the object toward the target object location.

Disclosed is a mobile robot having a receiving unit and capable of moving, the mobile robot including: at least three wheels arranged at a lower portion of the mobile robot; a sensing unit configured to measure a weight of the mobile robot applied to each of the at least three wheels; a linear actuator connected to the receiving unit and configured to apply a linear motion to the receiving unit in a direction toward a front section or a rearward section of the mobile robot; and a processor configured to, based on the weight applied to each of the at least three wheels measured by the sensing unit, control the linear actuator so as to apply the linear motion to the receiving unit. In addition, disclosed are a method for controlling a center of mass of a mobile robot, including a method performed by the aforementioned mobile robot, and a non-volatile computer readable storage medium in which a computer program for implementing the aforementioned method is stored.

Implementations relate to a counterbalance mechanism including a force transformation mechanism that provides a drive ratio. In some implementations, a counterbalance apparatus includes a spring, a first tension element, a second tension element, a force transformation mechanism coupled to the spring by the first tension element and coupled to the second tension element, and a plurality of counterbalance pulleys coupled to the second tension element. At least one of the counterbalance pulleys is coupled to a load that is moveable with reference to a mechanical ground, and a force provided by the spring is modified in magnitude by the force transformation mechanism and is applied to the load via the second tension element. The force transformation mechanism includes a plurality of elements and the modification of the force is based on a drive ratio of the elements of the force transformation mechanism.