A system for the remote actuation of articulated mechanisms comprising at least one actuated group comprising a mechanical joint having at least one degree of freedom and at least one receiving hydraulic cylinder connected to the mechanical joint. The system also comprises a hydraulic transmission comprising, for each actuated group, a first hydraulic line and a second hydraulic line arranged to actuate each receiving hydraulic cylinder in order to generate a mechanical action on the mechanical joint proportional to a pressure difference P=P.sub.1P.sub.2, where P.sub.1 is the fluid pressure in the first hydraulic line and P.sub.2 is the fluid pressure in the second hydraulic line.

A system for supporting workpieces during machining. The system comprises one or more adjustable workpiece support assemblies and a robotic unit. Each workpiece support assembly comprises a pedestal and a rotatable fixture element. The robotic assembly comprises a hydraulic means of mobilizing and immobilizing each support assembly, so that the workpiece may be supported by an array of workpiece supports in a particular orientation. The robotic unit moves along a frame, and manipulates and fixes the position of the fixture elements to match the contour of a workpiece. An umbilical contains hydraulic lines which pair with hydraulic lines within the workpiece support, and hydraulic pressure to particular lines allows the release of clamps within the workpiece support.

The invention relates to a positioning module (1) with a base (2) and a positioning element (3) that is movable relative to the base (2), wherein the positioning element (3) is coupled to the base (2) via a leg element (4) of constant length, and the leg element (4) is connected to the positioning element (3) via a joint device (5), and the leg element (4) is assigned a drive module (6) arranged on the base with a drive unit (62), with a drive element (64) that is displaceable along a direction of movement by the drive unit (62), which is connected to the leg element (4) via a joint device (5), and with a force compensation device (7) connected to the drive element (64), wherein a defined force can be exerted on the drive element (64) along the direction of movement of the drive element (64) by means of the force compensation device (7).

A snap-through joint module is provided. The snap-through joint module includes a first member having a first internal space to which pneumatic pressure is applied, a second member having a second internal space to which pneumatic pressure is applied, a snap joint portion configured to connect the first member to the second member and capable of a snap-through movement by pneumatic pressure applied to the first member and the second member, and a controller configured to control pneumatic pressure applied to the first internal space and the second internal space.

A system for the remote actuation of articulated mechanisms comprising at least one actuated group comprising a mechanical joint having at least one degree of freedom and at least one receiving hydraulic cylinder connected to the mechanical joint. The system also comprises a hydraulic transmission comprising, for each actuated group, a first hydraulic line and a second hydraulic line arranged to actuate each receiving hydraulic cylinder in order to generate a mechanical action on the mechanical joint proportional to a pressure difference P=P.sub.1P.sub.2, where P.sub.1 is the fluid pressure in the first hydraulic line and P.sub.2 is the fluid pressure in the second hydraulic line.

The present disclosure discloses a flexible mechanical arm and a robot. The flexible mechanical arm includes an arm joint, a flexible rotary module (2) and an end execution mechanism (3) which are connected with each other. The flexible rotary module (2) is driven by fluid, and includes a first end plate (23), a powered pusher plate (222), a first folding unit (21), a nut (221), and a lead screw (223) in threaded connection with the nut (221), wherein the first folding unit (21) is driven by fluid to be extended or compressed to push the powered pusher plate (222) to translate in an axial direction of the lead screw (223). The flexible mechanical arm can be deformed under drive of the fluid, thus causing no damage to surrounding objects or persons, and capable of being applied to special environments such as electric fields, magnetic fields, rays, etc.

A proprioceptive magnetorherological (MR) fluid actuator unit may include a bi-directional motor assembly. A MR fluid clutch apparatus connected to the bi-directional motor assembly, the MR fluid clutch apparatus controllable to transfer a variable amount of force from the bi-directional motor between at least two bodies using a reduction mechanism having a reduction ratio greater than 10:1. A processing unit is configured for: receiving the data from sensor(s), determining from the data that the bi-directional motor assembly has to accelerate or decelerate by a given value to control a relative speed between input and output of the MR fluid clutch apparatus to transmit a desired force between the two bodies, controlling the bi-directional motor to accelerate or decelerate toward the given value, and concurrently operating the MR fluid clutch apparatus to transmit the desired force between the bodies while maintaining a brake torque to inertia ratio over a haptic limit.