A purpose is to prevent a first connection piece string from colliding against a second connection piece string in a robot arm mechanism including a linear extension and retraction joint. In the robot arm mechanism having the linear extension and retraction joint, the linear extension and retraction joint includes an arm section, and an ejection section for supporting the arm section, the arm section includes a first connection piece string 21 made by a plurality of first connection pieces, and a second connection piece string made by a plurality of second connection pieces, the second connection piece string is sent out forward from the ejection section together with the first connection piece string in a state where the second connection piece string is joined to the first connection piece string, and a flexible guide rail for separating the first connection piece string from the second connection piece string and guiding the second connection piece string to the ejection section is interposed between the first connection piece string and the second connection piece string behind the ejection section.

The disclosure relates to a method for positioning a wear element relative to a supporting structure using a multi axis wear element positioning equipment having a wear element positioning unit. The method includes the steps of arranging a wear element positioning equipment in a replacement position relative to the supporting structure. The coordinates of an intersection point are defined where the virtual line intersects a surface of the supporting structure. The wear element positioning unit is aligned with the surface of the supporting structure at the intersection point such that a connecting surface of the wear element carried by the wear element positioning unit matches with a corresponding connecting surface of the supporting structure at the intersection point. The disclosure further relates to a system for positioning a wear element relative to a supporting structure.

Described are systems and methods for in vivo multi-material bioprinting. The in vivo multi-material bioprinting can be used to fabricate biomedical constructs within a patient minimally invasively. The systems and methods can utilize a multi-material bioprinter, which includes a biocompatible portion. The biocompatible portion can include a single printhead for in vivo bioprinting. The single printhead can include a plurality of outlets, each linked to one of a plurality of reservoirs. Each of the plurality of reservoirs can each house a different bioink for bioprinting. Each of the plurality of outlets can be activated to release a respective bioink.

Systems for autonomously batching a plurality of separated laundry articles into sorted loads for washing and drying are described. For example, each one of a plurality of collection bins is configured to receive a sorted load of separated articles including at least one common one of one or more washing and drying characteristics. A plurality of conveyors are configured to receive thereon the bins and position one bin into a loading position adjacent to an exit orifice of a sorting surface. At least one sensor disposed at least one of on, adjacent to, and within the surface is configured to detect the washing and drying characteristics. A controller in operable communication with a drive of the plurality of conveyors and the at least one sensor is configured to instruct the conveyors to move the bins to batch each separated laundry article into a bin matching the washing and drying characteristics.

A pipe handler for handling tubular members of a well system includes a mounting member for mounting the pipe handler to a structure of the well system, a first arm having a first end coupled to a structure of the well system, and a second end, wherein the first arm is configured to pivot relative to the mounting member about a first axis, a second arm having a first end and a second end, a connector coupled to the second end of the first arm and the first end of the second arm, and wherein the connector is configured to rotate the second arm about a second axis and a guide member coupled to the second end of the second arm for guiding a tubular member, wherein the second arm is configured to pivot relative to the connector about a third axis.

A robotic arm that extends in a longitudinal direction includes a pivot assembly that pivots a gripping portion around an axis that is substantially perpendicular to the robotic arm, in a direction transverse to the longitudinal direction of the robotic arm, and between at least a maximum-left position, a maximum-right position, and a centered position. The pivot assembly includes a first actuator that extends and retracts a first cable coupled to a left side of the gripping portion in order to pivot the gripping portion. The pivot assembly further includes a second actuator that extends and retracts a second cable coupled to a right side of the gripping portion in order to pivot the gripping portion.

A robotic attacher includes a main arm that is suspended vertically from a rail, and a supplemental arm that is coupled to and extends horizontally from the main arm along a longitudinal axis. The supplemental arm includes a pivot assembly that pivots a gripping portion around a vertical axis that is substantially parallel to the main arm of the robotic attacher, in a direction transverse to the longitudinal direction of the supplemental arm, and between at least a maximum-left position, a maximum-right position, and a centered position. The pivot assembly includes a first actuator that extends and retracts a first cable coupled to a left side of the gripping portion in order to pivot the gripping portion. The pivot assembly further includes a second actuator that extends and retracts a second cable coupled to a right side of the gripping portion in order to pivot the gripping portion.

A robotic system includes a movable platform disposed at a bottom of a work volume, the movable platform being configured to transit outside the work volume, at least three lifters disposed about a perimeter of the work volume, two or more sensors disposed at fixed locations about the work volume, and a memory including a neural network. A controller is in operative communication with the memory, the two or more sensors, and the lifters. The controller is configured to receive output signals from the two or more sensors, determine, based processing on the received signals with the neural network, whether the deformable laundry article suspended by two lifters is repositioned, and instruct, based on a determination of the deformable laundry article being repositioned, the lifters to lower the repositioned deformable laundry article onto the movable platform.

A mechanism is constructed by spherical concentric geometry and controlled by spherical coordinate kinematics. Transmission belts, pulleys, shafts, and spur gears are added onto three arc-link sets. Via these transmission components, base arc-links can be indirectly or directly but synchronously rotated by base driving modules and terminal arc-links can be indirectly or directly but synchronously rotated by terminal driving modules.

An object of the present invention is to provide a robot arm mechanism capable of structurally eliminating or reducing a singular point posture within a movable range. The robot arm mechanism has a plurality of joints J1-J6. The first joint J1 is a rotational joint that rotates on a first axis RA1, a second joint J2 is a rotational joint that rotates on a second axis RA2, and a third joint J3 is a linear motion joint that moves along a third axis RA3. The first joint J1, the second joint J2 and the third joint J3 are arranged in order from a base. The first joint J1 is arranged so that the first axis RA1 is perpendicular to the base. The second joint J2 is offset with respect to the first joint J1 in a direction (Z axis direction) of the first axis RA1 and a direction (Y axis direction) perpendicular to the first axis RA1.