A linear motion mechanism has a plurality of linear motion elements assembled telescopically in multiple stages, and a block row connected to the linear motion elements and configured to drive the linear motion elements. A drive mechanism feeds the block row from an accommodating portion to extend the linear motion elements and pulls back the block row to the housing to contract the linear motion elements. The wire body is wired along the block row. A detour member is provided to absorb the excess length of the wire body which varies as the block row is fed and pulled back.

A joint according to one aspect of the disclosure includes: a joint body having an input gear meshing with a speed reduction mechanism, the joint body receiving an output shaft of a motor detachably coupled to the joint body; a motor flange disposed between the speed reduction mechanism and the motor and rotatably supporting the joint body; and an intermediate flange connecting between the motor flange and the motor. At least one fixing member for fixing the joint body and the output shaft to each other is provided at at least one position in the joint body that overlaps with the intermediate flange as viewed from a radial direction. The intermediate flange is formed as an annulus surrounding the joint body by a plurality of split pieces that can be split in a circumferential direction.

A printing device includes a head that ejects liquid to a work; a robot that changes relative positions of the work and the head; a positional information output unit that outputs positional information regarding a position of the robot; and a timing adjuster that adjusts, based on the positional information, an ejection timing of ejecting the liquid from the head. When a timing of acquiring first positional information as the positional information by the timing adjuster is a first acquisition timing, a timing of acquiring second positional information as the positional information by the timing adjuster after the first acquisition timing is a second acquisition timing, and the ejection timing after the second acquisition timing is a first ejection timing, the timing adjuster adjusts the first ejection timing based on the first positional information and the second positional information.

An articulation for a robot, in particular a collaborative robot, includes as components a drive, a transducer for providing information relating to a rotational speed, commutation and/or position, and a plurality of heat exchanger tubes for removing heat from the components, with a first one of the heat exchanger tubes touching a first subset of the components, and with a second one of the heat exchanger tubes touching a second subset of the components.

A system for positioning a patient before, during or after a medical procedure can include an arm assembly and a surgical drape for use with the arm assembly. The surgical drape can be configured to be placed around a surgical site where an operative procedure is to be conducted. The surgical drape includes a transparent viewing window, multiple handle covers, and an expandable opening on the top side of the surgical drape. Additionally, the surgical drape may also include adhesive components on the bottom side of the drape that may be independently removed in order to affix the drape around a surgical site.

A motor includes an annularly-shaped field system having a first main pole magnetized in a first direction along a rotation axis and a second main pole magnetized in a second direction opposite to the first direction, and including a plurality of magnetic poles arrayed along a circumference around the rotation axis, and an armature facing the field system in a direction along the rotation axis, wherein a value of a ratio of an inner diameter to an outer diameter of the field system is within a range from 0.4 to 0.8.

A piezoelectric drive device includes a substrate, a convex portion coupling to the substrate and transmitting drive power to a driven member, first drive piezoelectric elements placed on the substrate and vibrating the substrate in Y directions in which the substrate and the convex portion are arranged, second drive piezoelectric elements placed on the substrate and vibrating the substrate in Z directions orthogonal to the Y directions, a reference piezoelectric element placed on the substrate, receiving the vibration in the Y directions, and outputting a detection signal, and a concave portion placed side by side with the reference piezoelectric element in the Z directions in a plan view from an X direction orthogonal to the Y directions and the Z directions.

An actuator comprising: a motor comprising a housing and a drive shaft, the motor arranged to rotate the drive shaft relative to the housing about a drive shaft axis; a first torque transfer device comprising a first drive member on the drive shaft and a first driven member on a second shaft, the first drive member being arranged to transfer torque to the first driven member, such that the first torque transfer device is arranged to transfer torque from the drive shaft to the second shaft, the second shaft being rotatable about a second shaft axis spaced from the drive shaft axis; and an output torque transfer device comprising an output drive member on the second shaft and an output driven member, the output drive member being arranged to transfer torque to the output driven member, such that the output driven member rotates about an output axis; wherein a torque ratio of the output torque transfer device is smaller than or equal to a torque ratio of the first torque transfer device.

An active arm module for the robot arm of a modular industrial robot has a first housing, first and connection sides arranged at an offset, and a drive device. The first connection side is mounted rotatably relative to the first housing, and is connected to the drive device in a torque-locking manner. The second connection side is connected to the first housing in a torque-proof manner, the drive device being arranged in the first housing and configured to rotate the first connection side relative to the first housing. A further module can be connected to the first and/or second connection side, where the first connection side is optically, electrically, power-electrically and/or fluidically connected to the second connection side, and an optical signal, electrical signal, electrical power, and/or a fluid can be exchanged with the further module via the and/or second connection side.

An electronic device is provided. The electronic device includes a first device comprising a spherical housing which rotates and in which a spherical inner space is formed, and a second device which is disposed on the outer surface of the spherical housing and has a ring shape, wherein the first device comprises a first driving device which is disposed within the spherical housing and is capable of transmitting driving force to the spherical housing, a structure disposed within the spherical housing and formed such that the second device is disposed on the surface of the spherical housing, a second driving device which is disposed within the spherical housing and drives the structure, and at least one first sensor which is disposed in the structure and faces the inner surface of the spherical housing.