Devices and systems for producing rotational actuation are described. More specifically, hydraulic and pneumatic actuators that can produce and control rotational or joint-like motion are described. An actuator may include a torus shaped cylinder configured to enable rotation of the actuator. An actuator may further include both a piston configured to rotate from a first end of the torus shaped cylinder to a second end of the torus shaped cylinder and a piston rod coupled to the piston.

A carrying device includes a swivel that swivels around a central axis line of a revolution orbit that passes through a workpiece transfer area and a workpiece work area for a workpiece to be worked on by a robot, multiple workpiece holders positioned on the swivel such that when a first one of the workpiece holders is positioned in the workpiece transfer area, a second one of the workpiece holders is positioned in the workpiece work area. a revolution driver that causes the swivel to swivel around the central axis line of the revolution orbit, and a tilting driver that tilts each of the workpiece holders with respect to the central axis line of the revolution orbit.

A robot arm comprising at least two arm joints which are pivotally connected together and which are driven directly. The aim of the invention is to reduce the energy required to move the parts when pivoting the arm joint and allow an uncomplicated adaptation of the robot arm to changed use conditions. This is achieved in that at least one of the two arm joints has a motor part and a joint part, wherein the two parts are arranged in a mutually spaced manner via a spacer part, and the other arm joint is arranged so as to engage with the spacer part of the arm joint such that the position can be changed relative to the arm joint.

Provided is a robot. For example, a joint part of this robot is provided with: a motor; a reduction gear coupled to the motor; an output-side member fixed to the output shaft of the reduction gear; a position detection mechanism for detecting the rotational position of the motor; a circuit board 10 to which the motor and the position detection mechanism are electrically connected; and a case in which the motor, the reduction gear, the position detection mechanism, and the circuit board are housed. The motor and the reduction gear 8 are fixed to the case. A motor driving circuit for driving the motor, a signal transmission circuit for outputting a signal inputted to the circuit board to outside the circuit board, and a connector to which an end of a wiring is connected are mounted to the circuit board.

Provided is a robot equipped with two joint parts attached to an end of an arm in a coupled state. For example, in a joint part of a robot, a motor and a reduction gear are housed in a case, and an output-side member having a flange is fixed to the output shaft of the reduction gear. An opening that opens in the direction orthogonal to the axial direction of the output shaft of the reduction gear is formed in the case. A planar attachment face orthogonal to the opening direction of the opening is formed in the opening. The robot is provided with a plurality of biaxial joint units comprising two joint parts. In the robot, the attachment face of the case of one joint part constituting a biaxial joint unit is fixed to the flange of the other joint part either directly or via a coupling member.

A wire-body processing structure for a robot including a base, a rotary drum rotating about a first axis, and an arm rotating about a second axis. The rotary drum has a hollow part extending from inside the base, along the first axis, and opening in a top surface of the rotary drum. The wire body inside the base is led out, via the hollow part, from the opening in the top surface of the rotary drum, is bent to the rear side of the rotary drum, is guided below the arm, is fixed to the rotary drum with a first fixing member, is bent along the arm, and is fixed to a side surface of the arm with a second fixing member, with a certain surplus of a length between the first fixing member and the second fixing member.

Provided is an auxiliary bending robot capable of processing two workpieces simultaneously, including a linear base slide rail, a slider, a movable major arm, a movable minor arm, a front arm, a swing link, and an additional seventh axis. The slider is slidably connected to the linear base slide rail, and a first axis is formed between the slider and the linear base slide rail. A top portion of the slider is directly or indirectly hinged to a rear end of the movable major arm through a second axis, a front end of the movable major arm is hinged to a rear end of the movable minor arm through a third axis, a front end of the movable minor arm is hinged to a rear end of the front arm through a fourth axis, and a front end of the front arm is rotatably connected to a middle portion of the swing link through a fifth axis. There are two additional seventh axes, the two additional seventh axes are symmetrically disposed on the swing link on two sides of the fifth axis, and each of the additional seventh axes is rotatably connected to the swing link. The present invention can bend two sheet metal plate parts at the same time, so that the efficiency is multiplied and the efficiency problem of automatic bending processing is practically resolved.

A robot manipulator includes: an arm body; a wrist effector, connected to the arm body; a multi-degree-of-freedom (DOF) connecting device, rotatably connected to the wrist effector; and a grabber, connected to the multi-DOF connecting device, wherein the multi-DOF connecting device is configured to receive a power output by the wrist effector and drive the grabber to rotate.

A system is disclosed for use in additively manufacturing a composite structure. The system may include a head configured to discharge a composite material including a matrix and a plurality of continuous reinforcements. The system may also include a weave mechanism configured to selectively adjust a pattern of weaving of the plurality of continuous reinforcements occurring inside of the head.

An electromechanical system operates through physical interaction with an operator, and includes a plurality of joints providing multiple degrees of freedom (DOF), including actuated joints and unactuated joints. The unactuated joints are distal with respect to the actuated joints and are in redundant DOF to the actuated joints. The system includes a plurality of actuators each configured to actuate one or more of the actuated joints, and a plurality of sensors each positioned with respect to a respective one of the actuated and unactuated joints. Each sensor is configured to measure corresponding joint data indicative of a position or angle of the respective actuated or unactuated joints. A controller in communication with the sensors receives the measured joint data as feedback signals, generates control signals using the feedback signals, and transmits the control signals to the actuators to thereby control an actuation state of the actuators.