A sensor arrangement for measuring at least one component of a force or a torque includes a sensor assembly having a first contact structure and a second contact structure, between which the at least one component of the force or torque is to be measured, and a plurality of sensor elements. The plurality of sensor elements are each connected by way of a first joint to the first contact structure and by way of a second joint to the second contact structure and configured to measure the component of force or torque between the first contact structure and the second contact structure. The first contact structure, the second contact structure and the plurality of sensor elements form a rolled-up structure that extends like a jacket along a surface of the sensor arrangement.

A parallel kinematic machine, PKM, comprising: a support platform (17a), a first support linkage (SL1); a second support linkage (SL2) and a third support linkage (SL3), wherein the first support linkage (SL1), the second support linkage (SL2) and the third support linkage (SL3) together comprises at least five support links (8, 9, 10, 11, 12, 13). The PKM further comprises: a tool base (140) comprising a shaft joint (24, 40, 41, 200, 202, 262a, 262b), a tool base shaft (19) and a tool platform (17b). The tool base shaft (19) is connected to the support platform (17a) via the shaft joint (24, 40, 41, 200, 202, 262a, 262b), and wherein the tool platform (17b) and the tool base shaft (19) are rigidly connected. The PKM also comprises one or more tool linkages (TL1, TL2, TL3) each comprising a tool link (26, 31; 29, 32; 38) connected at one end via a tool base joint (25, 28, 37) to the tool base (140), and at the other end connected via a tool carriage joint (27, 30, 39) to a carriage arranged for movement along a path; and wherein each tool linkage (TL1, TL2, TL3) is configured to rotate the tool base shaft (19) around at least one axis relative the support platform (17), by transferring a movement of the respective tool linkage (TL1, TL2, TL3) to the tool base shaft (19).

The invention relates to the improvement of exoskeletons and masters thereof and to their use in teleoperative applications in virtual worlds or the real world. Non-actuated exoskeletons can be used to transfer loads from the user, for example, heavy luggage, tools or also the body weight of the user, to the ground and to relieve the joint and muscle system of the user. This can increase the endurance and also effective strength of the user. Motor-driven, actuated exoskeletons can be used in different fields. They can be worn as a freely moveable robotic suit which comprises a built-in energy supply and electronic control. They can also be used to improve the force and endurance of a user whilst the user moves in an unlimited environment. Another use of the fixed exoskeleton is in the field of interaction with virtual worlds or for controlling real robots. In this instance, an exoskeleton can be used to establish a teleoperative connection between the user and the master (virtual avatar or real robot). The user users the exoskeleton to directly transfer control commands to the master. The elements of the user and the master then practically carry out the same movements synchronously. The aim of the invention is to improve exoskeletons and masters of the mentioned type and the associated control units. This can, in particular, be achieved by a favorable realization of rotational axes which define rotational movements of different elements which to a large extent perform a hip movement.

A coordinate positioning machine that includes: a structure moveable within a working volume of the machine, a hexapod metrology arrangement for measuring the position of the structure within the working volume, and a non-hexapod drive arrangement for moving the structure around the working volume. Also, a coordinate positioning machine including a structure moveable within a working volume of the machine, a drive arrangement for moving the structure around the working volume in fewer than six degrees of freedom, and a metrology arrangement for measuring the position of the structure within the working volume in more degrees of freedom than the drive arrangement.

Simulated motion of the papillary muscles in a heart simulator is provided that simulates natural motion of the papillary muscles. This improves heart valve simulation. This can be done with a six degree of freedom robotic actuator (e.g., a Stewart platform or the like) appropriately driven by a controller. This can also be done with a robotic actuator that provides constrained motion of its effector by including a mechanical linkage, as long as the resulting simulated papillary muscle motion includes time-varying position and orientation of the papillary muscle.

A coordinate positioning machine that includes: a structure moveable within a working volume of the machine, a hexapod metrology arrangement for measuring the position of the structure within the working volume, and a non-hexapod drive arrangement for moving the structure around the working volume. Also, a coordinate positioning machine including a structure moveable within a working volume of the machine, a drive arrangement for moving the structure around the working volume in fewer than six degrees of freedom, and a metrology arrangement for measuring the position of the structure within the working volume in more degrees of freedom than the drive arrangement.

A coordinate positioning machine that includes: a structure moveable within a working volume of the machine, a hexapod metrology arrangement for measuring the position of the structure within the working volume, and a non-hexapod drive arrangement for moving the structure around the working volume. Also, a coordinate positioning machine including a structure moveable within a working volume of the machine, a drive arrangement for moving the structure around the working volume in fewer than six degrees of freedom, and a metrology arrangement for measuring the position of the structure within the working volume in more degrees of freedom than the drive arrangement.

Disclosed is a wheel end face detection and correction device, which includes a frame, a self-made cylinder, a detection system, a correction system and the like. A wheel is preliminarily positioned in the center, a cylinder II drives an expansion sleeve to descend to match a center hole of the wheel, the attitude of a datum plate is adjusted to attach to a flange face of the wheel, and an expansion core is pulled by a cylinder rod; the cylinder II drives the wheel to ascend, and a servo motor drives the wheel to rotate; a servo electric cylinder II drives a dial indicator to be located below a rim end face of the wheel, a servo electric cylinder I drives the dial indicator to contact an end face of the wheel, and the end face run-out of the wheel may be detected.

A sensor arrangement for measuring at least one component of a force or a torque includes a sensor assembly having a first contact structure and a second contact structure, between which the at least one component of the force or torque is to be measured, and a plurality of sensor elements. The plurality of sensor elements are each connected by way of a first joint to the first contact structure and by way of a second joint to the second contact structure and configured to measure the component of force or torque between the first contact structure and the second contact structure. The first contact structure, the second contact structure and the plurality of sensor elements form a rolled-up structure that extends like a jacket along a surface of the sensor arrangement.

A nanoscale positioning apparatus with a large stroke and multiple degrees of freedom and a control method thereof are provided. The nanoscale positioning apparatus includes a base, a plurality of parallel branch chain mechanisms and a working table. Each of the parallel branch chain mechanisms includes an electric cylinder, a micro-motion drive mechanism, a laser interferometer, a grating measuring device, a self-locking upper hinge and a self-locking lower hinge. The top of the base is connected to one end of the electric cylinder through the self-locking lower hinge. The other end of the electric cylinder is connected to one end of the micro-motion drive mechanism. The other end of the micro-motion drive mechanism is connected to the bottom of the working table through the self-locking upper hinge. The positioning apparatus has multiple degrees of freedom, and realizes multi-degree-of-freedom arbitrary position adjustment of the working table through parallel branch chain mechanisms.