A protection apparatus for a manipulation device on a handling device, in particular on a handling robot. The manipulation device has at least one movably developed manipulation element and at least one overload protection which induces an evasion of the manipulation device when a trigger force on the manipulation device is exceeded. The overload protection has at least one magnetic element, which fixates the manipulation device in a setpoint position at forces below the trigger force.

A passive compliance mechanism includes a fixing member, a base and a stiffness adjustment assembly. The base is installed on the fixing member, and includes two notches and an elastic slice. A first end of the elastic slice is connected with the base. A second end of the elastic slice is located near the outer periphery of the fixing member. The stiffness adjustment assembly includes a linear guide, a sliding block and two stopping blocks. The linear guide is installed on the fixing member. The sliding block is movably installed on the linear guide. The two stopping blocks are disposed on the sliding block and synchronously moved with the sliding block. The two stopping blocks are contacted with two opposite sides of the elastic slice to clamp the elastic slice. A stiffness of the base is adjustable according to a clamped position of the elastic slice.

A rotary-type series elastic actuator (SEA) for use in robotic applications. The SEA including a motor, gear transmission assembly, spring assembly, and sensors. In one example, a robotic joint may include the SEA as well as two links coupled with each other at the joint assembly. The two links may be designated as input and output links. Each link may have a joint housing body which may be concentrically connected via a joint bearing so that they freely rotate against each other. The housing frame of the SEA may be fixed at the joint housing body of the input link while the output mount of the spring assembly of the SEA may be concentrically coupled with the joint housing body of the output link. The rotation of the motor rotor causes the rotation of the output link with respect to the input link plus spring deflection of the spring assembly. When an external force or torque are applied between the two links, a control action of a control loop may cause a rotation and motive force of the motor that lead to the deflection of the spring assembly to balance with the external force/torque and inertial force from body masses moving together with the links.

A hand includes a hand body in which a predetermined first reference axis is defined, a gripper in which a predetermined second reference axis is defined and which grips a workpiece, and a coupler that couples the gripper to the hand body. The coupler includes at least one of a decentering supporter that supports the gripper such that the second reference axis is capable of being decentered with respect to the first reference axis, or a tilt supporter that supports the gripper such that the second reference axis is capable of being tilted with respect to the first reference axis.

During an operation of a mobile robot 1, observed values of a plurality of reference parameters including at least one of contact reaction forces) of one or more movable links 3, 4 and a contact reaction force function value expressed as a function value of contact reaction force(s) of one or more movable links 3, 4 are acquired based on outputs from force detectors 31 mounted on the respective movable links 3, 4 of the mobile robot 1, and the observed values of the reference parameters are used to detect presence or absence of occurrence of abnormal contact of the mobile robot 1 by a contact detecting model Ai.

A robot includes a robot controller that is designed and configured to execute a robot program, and a robot arm having at least three joints connected by links and a number of drives corresponding to the at least three joints. Each drive is designed to adjust one of the at least three joints allocated to the drive. The joints can be actuated in an automated manner in accordance with the robot program or in a manual drive mode by the robot controller to automatically adjust the associated joint, wherein at least one of the links includes a force measuring device designed to measure a force on the link in a predetermined direction.

A robot includes a robot arm having a plurality of motor-driven joints and a plurality of links, each of which interconnect two adjacent joints. At least one of the links has a supporting structural component configured to transmit forces and/or torques from an adjacent joint to the other adjacent joint. The structural component is provided with at least one covering that at least partially covers the structural component and at least one contact sensor. The at least one contact sensor is configured as a switching strip arranged between the structural component and the covering. Movable mounting of the covering on the structural component, which mounting is spring-preloaded into the basic position of the covering, is adjusted by an inherent elasticity of the switching strip.

A compensating device, which can be placed between a robot, e.g., used to grip and position workpieces, and a gripper moved by the robot to compensate position tolerances, includes respective interfaces for a manipulator and an end effector, with the compensating device positioned between the manipulator and the end effector and including a joint device aligned with a first axis Z between the interface segments, a first joint partner connected to the first interface segment, and a second joint partner connected to the second interface segment, one of the joint partners including a ball segment and the other including, for the ball segment, a receptacle segment that includes at least one ramp region so that the joint device forms a pivot or ball joint, the ball segment being capable of being displaced from a normal position in a transverse direction X-Y to the first axis Z into a compensating position.

An industrial robot and control system including a high degree of cooperation between a human operator and the robot for increased safety. In an automatic operation mode, at least a first detection device detects the presence of a foreign body in the robot working area and the control system places the robot in a safe automatic operating mode. A second and third detection devices may be employed to detect possible impacts with the robot.

A conduction path structure of a robot in which a conduction path has a simplified structure is provided. A conduction path structure of a robot includes: a structural mechanism which functions as a support and has a conductor portion; an actuator that operates the structural mechanism; and a conduction path through which driving power and/or a control signal is supplied to the actuator, wherein the conduction path also serves as the conductor portion of the structural mechanism.