A robotic surgical assembly (100) includes a support (104), one macro-positioning arm (30), connected to the support (104) and having a plurality of degrees of freedom. The macro-positioning arm (30) includes a support member (38), at least two micro-positioning devices (41, 141, 241, 341), each having a plurality of motorized degrees of freedom, connected in cascade to the support member (38) of the macro-positioning arm (30), and at least two medical instruments (60, 160, 260, 360). Each instrument is connected in cascade to each of the micro-positioning device and includes a jointed device (70, 170, 270) having a plurality of motorized degrees of freedom including a plurality of rotational joints. Each of the at least two medical instruments (60, 160, 260, 360) has a shaft (65), suitable for distancing the jointed device from the micro-positioning devices by a predetermined distance in a shaft direction (X-X).

A processing device with a processing head including a processing unit designed as a tool and/or applicator unit, in particular a printer unit, and a first positioning device for moving the processing head in order to position the processing unit with a first accuracy at a specified processing position. The processing head has a second positioning device and the processing device is adapted to position the processing unit at the specified processing position with a second accuracy using the second positioning device, the second accuracy being higher than the first accuracy, so that the lower accuracy of the first positioning device is compensated for by the positioning with the second positioning device.

A triaxial motion device includes first, second and third bases, first and second power sources, and a workpiece positioning member. The first power source is disposed on the first base and has a first driving shaft. The second base is connected with the first driving shaft through a cannular rotary shaft in a way that the second base is rotatable about a first axis. The second power source is disposed on the first base and has a second driving shaft penetrating through the cannular rotary shaft. The third base is connected with the second driving shaft in a way that the third base is rotatable about a second axis perpendicular to the first axis. The workpiece positioning member is disposed on the third base and rotatable about a third axis perpendicular to the second axis. Therefore, the triaxial motion device has small volume and performs highly precise motion.

A plug-in adapter includes a thread designed to screw the plug-in adapter to an adjustment instrument, a plug-in device designed for detachably connecting the plug-in adapter to a counter plug-in device of an access opening on a robot for a reference position marking of the robot, and a stylus designed to couple a measuring tip of the adjustment instrument to the reference position marking. The plug-in device has a plug-in section that is designed for axially plugging of the plug-in section into the counter plug-in device of the robot.

Apparatus and methods that can be used to stabilize the distal end of an arm (and an end effector attached thereto) of an automated extended-reach tool-equipped assembly. Stabilization is provided by three or more stabilizers, each comprising a stationary part and a movable part. Each stationary part has a fixed location relative to the end effector; each movable part is translatably coupled to a respective stationary part and comprises a contactor disposed at a distal end of the movable part. When the stabilizers are actuated, the contactors are translated toward and into contact with the surface of the workpiece and then locked in place to stabilize the distal end of the arm and the end effector. During tool operation, the stabilizers reduce oscillation of the end effector (and all structure fixedly coupled thereto).

A robot system that performs work of coupling a flexible cable to a connector provided on a board, includes a robot in which a gripping unit that grips the cable and a force detection unit that detects a force acting on the gripping unit are provided, a control unit that controls the robot to perform a conveyance action to grip the cable using the gripping unit and convey the cable onto the board, and an insertion action to insert the cable into the connector by force control based on a detection result in the force detection unit, an insertion speed entry part in which an insertion speed of the cable into the connector at the insertion action is entered, and a determination unit that can determine force control information necessary for the force control in the insertion action according to the insertion speed.

A sealant applying device for applying a sealant along a joint line formed on a panel joint, may include a nozzle device including a nozzle tip mounted through a fixing block to apply the sealant to the joint line, a guide unit mounted on one side of the fixing block adjacent to the nozzle tip and configured to be slidably movable along the joint line to guide the nozzle tip and a floating unit connected to the fixing block and a robot and allowing the fixing block to move upwards and downwards.

A robot system that performs work of coupling a cable to a connector provided on a board, includes a robot in which a gripping unit that grips the cable and a force detection unit that detects a force acting on the gripping unit are provided, and a robot control apparatus that controls the robot, wherein the robot control apparatus controls the robot to perform a conveyance action for the gripping unit to grip the cable with a first gripping force and convey the cable onto the board, a correction action for the gripping unit to grip the cable with a second gripping force and correct a posture of the cable based on the force acting by pressing the cable against the connector, and an insertion action for the gripping unit to grip the cable with a third gripping force and insert the cable into the connector.

A robotic surgical assembly includes a support, one macro-positioning arm, connected to the support and having a plurality of degrees of freedom. The macro-positioning arm includes a support member, at least two micro-positioning devices, each having a plurality of motorized degrees of freedom, connected in cascade to the support member of the macro-positioning arm, and at least two medical instruments. Each instrument is connected in cascade to each of the micro-positioning devices and includes a jointed device having a plurality of motorized degrees of freedom including a plurality of rotational joints. Each of the at least two medical instruments has a shaft, suitable for distancing the jointed device from the micro-positioning devices by a predetermined distance in a shaft direction (X-X).

A triaxial motion device includes first, second and third bases, first and second power sources, and a workpiece positioning member. The first power source is disposed on the first base and has a first driving shaft. The second base is connected with the first driving shaft through a cannular rotary shaft in a way that the second base is rotatable about a first axis. The second power source is disposed on the first base and has a second driving shaft penetrating through the cannular rotary shaft. The third base is connected with the second driving shaft in a way that the third base is rotatable about a second axis perpendicular to the first axis. The workpiece positioning member is disposed on the third base and rotatable about a third axis perpendicular to the second axis. Therefore, the triaxial motion device has small volume and performs highly precise motion.