A fine work assistance system is configured such that a parallel link mechanism is used for a slave manipulator activated by a master operation, and a precise motion for microsurgery or the like is performed by remote control. In a slave unit of a master-slave manipulator, the parallel link mechanism with multiple degrees of freedom is used for a link mechanism in which an end effector is movable with respect to a base. Moreover, a tip operation part is driving by a hydraulic driving mechanism such that a plurality of linear actuators supported by the base move one ends of links so as to move the end effector, and the slave unit is activated in response to a user operation on the master unit. This achieves the precise motion of the end effector and causes the end effector to perform operations for a precise work.

An end effector connectable to a robot arm includes a camera, a support member that includes a marker and supports a workpiece, and a brush that performs coating on the workpiece. The camera is arranged at a position allowing the camera to capture a brush tip of the brush and the marker simultaneously.

A gripping device is provided for grasping an object. The device includes a frame, an axial threaded screw, an actuator, an armature, a plurality of links, and a plurality of arms. The frame has proximal and distant ends to hold the screw. The actuator connects to the screw at the proximal end. The armature threads onto the screw. The links radially extend from the armature. Each link terminates in a ball tip. Each arm includes a lever bounded by a proximal hinge and a distal claw. The lever contains a plate to slide therealong. The plate has a socket that receives the ball tip. The hinge pivotably connects to the proximal end of the frame. The actuator turns the screw, thereby translating the armature aft towards the distal end of the frame. The armature carries each link to pull its ball tip aft, thereby causing each arm to radially contract its claw around the object.

A joint structure for a robot including a four-link mechanism, in which an elastic member expands and its restoring force increases as a finger is bent, and a distance between a second straight line passing through a center of a second rotation shaft and a fixed point at which the other end of the elastic member is fixed to the third link is equal to or longer than a distance between a fourth straight line passing through a center of a first rotation shaft and a fixed point at which one end of the elastic member is fixed to the second link, the second straight line being perpendicular to a first straight line passing through centers of second and fourth rotation shafts, and the fourth straight line being perpendicular to a third straight line passing through centers of first and third rotation shafts.

A one-finger angular pneumatic gripper includes a body, in which a piston and a spring are accommodated, and a clamping finger hinged to the body. Differently from conventional solutions, the ends of the gripper body are not screwed or assembled ring nuts, but on the contrary they are integral parts of the body itself.

A retrieval device for retrieving items within a confined space with limited access, said device comprising: (a) an elongated body having a front and rear and a longitudinal axis; (b) a clamping mechanism comprising at least a set of jaws disposed at said front, said jaws being configured to actuate between closed and open positions, said clamping mechanism also comprising at least one actuating member connected to said jaws and at least partially disposed in said body; (c) an actuator laterally offset from said axis and beside said at least one actuating member, said actuator operatively connected to said at least one actuating member to actuate said jaws between said closed and opened positions; and (d) at least one camera disposed proximate said motor and offset from said axis, said at least one camera having a field of view of at least a portion of said jaws.

In one embodiment, a robotic end effector configured to mount to a robotic manipulator includes gripping elements configured to grasp objects, a drive mechanism configured to open and close the gripping elements, and a central controller configured to control operation of the drive mechanism and the gripper elements, the central controller hosting a control program that enables control of the end effector independent of the robotic manipulator.

A compliant adaptive robot grasper comprises a multi-bar finger linkage, including a fingertip link, at least one base link, and front and rear links joining the base link via a first set of joints with the fingertip links via a second set of joints. The base link includes a mounting structure, allowing it to be mounted on a mounting block for rotary actuation. Linear connections between the joints form a shape substantially in the form of a parallelogram allowing the linear connections across the front and rear links to remain substantially parallel to one another as the front and rear links pivot about the base link without substantially changing the orientation of the fingertip link until and unless the multi-bar finger linkage contacts an external object.

A gripping mechanism includes: two gripping pieces pivoted relative to each other about a pivot axis; a base supporting at least one of the gripping pieces; a pulley rotatably supported about a rotation axis parallel to the pivot axis; a wire wound around the pulley, causing tensile forces that move the rotation axis in one direction to act, and transmitting a pressing force; and a force-receiving portion receiving the pressing force. The pulley is disposed so that a resultant force of the tensile forces of the wire acting on the rotation axis generates a moment causing the gripping pieces to be pivoted in a direction causing the gripping pieces to be closed. The force-receiving portion is disposed so that the pressing force applied from the wire generates a moment causing the gripping pieces to be pivoted in a direction causing the gripping pieces to be opened.

A device for transferring a hub ground chain tray. An upper slider and a lower slider parallel to each other are arranged at the head end, a cylinder mounting plate is arranged below the upper and lower sliders, a cylinder is arranged below the cylinder mounting plate, a slider is arranged at the end of a piston rod of the cylinder, the left and right sides of the slider are provided with rotating pins, the two ends of the rotating pins can be installed in the strip through holes respectively in a sliding manner, and the two rotating pins are connected with the tail of the clamping jaw; the head of the clamping jaw is provided with jaw fingers, the jaw fingers are provided with the clamping blocks, and a transferrable tray device is arranged between the clamping blocks.