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.

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.

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 tool holder. The tool holder is mounted to a platform (9) and comprises a plurality of legs (1) extending from respective positions on the platform (9) for connecting the platform (9) to respective positions on the workpiece. Each leg (1) has a first joint system (8a) at its platform end allowing each leg (1) to pivot relative to the platform (9). Each first joint system (8a) has an actuator arrangement (34) having a first operating mode in which the actuator arrangement (34) is configured to apply a load to move the respective leg (1), and a second operating mode in which the actuator arrangement (34) is configured to allow free movement of the respective leg (1).

A robot includes elbows connecting forearms rotatably to upper arms with two rotational degrees of freedom. The elbow includes: an elbow joint connecting the forearm and the upper arm with two rotational degrees of freedom; an elbow drive main link; an elbow drive auxiliary link; a forearm-side main link attaching unit attached with one end of the elbow drive main link with two rotational degrees of freedom, and provided in the forearm; an elbow-drive-main-link-side auxiliary link attaching unit attached with one end of the elbow drive auxiliary link with two rotational degrees of freedom, and provided on the elbow drive main link; and two linear actuators for moving two upper-arm-side link attaching units each attached with the other end of either the elbow drive main link or the elbow drive auxiliary link with two rotational degrees of freedom, and provided so as to be movable along the upper arm.

A machine tool comprising: a first body; a first leg, a second leg, and a third leg coupled to the first body via first joints and configured to support at least the first body; a second body including a tool holder; a fourth leg, a fifth leg, and a sixth leg coupled to the second body via second joints and configured to support at least the second body; and a first actuator coupled to the first body and to the second body, the first actuator being configured to cause rotational motion between the first body and the second body to enable a change in walking direction of the machine tool and/or to enable a change in machining stiffness and a change in work volume of the machine tool.

A robot includes: a chest; a pair of right and left upper limbs; and a pair of right and left shoulders connecting the right and left upper arms rotatably to the chest with two rotational degrees of freedom, respectively. The shoulder includes: a shoulder joint connecting the upper arm rotatably; a chest-side main link attaching unit provided; an upper arm main link attaching unit provided in the upper arm; an upper arm drive main actuator including an upper arm drive main link having a variable length and a power source for generating force changing the length of the upper arm drive main link; a chest-side auxiliary link attaching unit provided in the chest; an upper-arm-drive-main-link-side auxiliary link attaching unit provided in the upper arm drive main link; and an upper arm drive auxiliary actuator including an upper arm drive auxiliary link having a variable length and a power source for generating force changing the length of the upper arm drive auxiliary link.

Provided are an omnidirectional moving robot device, and a system and method for object conveyance using a plurality of moving robot devices. The omnidirectional moving robot device includes a sensor, a traveling unit including an omnidirectional wheel disposed in a housing, and a control unit configured to transmit a traveling command signal to the traveling unit by using data measured by the sensor.

Provided are an omnidirectional moving robot device, and a system and method for object conveyance using a plurality of moving robot devices. The omnidirectional moving robot device includes a sensor, a traveling unit including an omnidirectional wheel disposed in a housing, and a control unit configured to transmit a traveling command signal to the traveling unit by using data measured by the sensor.

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.