A spatial parallel mechanism comprises a platform. Three or more legs configured for extending from a base or ground to the platform, each leg has a distal link, one or more distal joint providing one rotational degree of freedom (DOF) about a distal rotational axis, the distal joint connecting a distal end of the distal link to the platform. A proximal joint provides at least two rotational DOFs at the proximal end of the distal link. Assemblies of joints and links provide DOFs to each said leg between the proximal joint and the base or ground. The distal rotational axes of the three legs are parallel to one another.

An attachment for an industrial or farm vehicle is designed to engage, carry and unroll a round hay bale. The attachment can be adjusted to interact with hay bales of various lengths. The attachment includes a support structure with features to attach to the vehicle. A first end of a first arm is pivotably connected proximate a first end of the support structure. A first end of a second arm is pivotably connected proximate the first end of the support structure. A spacing link is pivotably connected to second ends of the first and second arms. A first hay bale spear is attached to the spacing link. A third arm has a first end pivotably connected proximate a second end of the support structure. A second hale bay spear is attached proximate to a second end of the third arm and faces toward the first hay bale spear.

An end of arm tool (EOAT) for use during manufacture of parts using one or more pre-impregnated composite plies is disclosed. In an embodiment, the EOAT includes a mechanical gripper arrangement with first and second fingers configured to supply a compressive force to grip a pre-impregnated composite ply therebetween. At least one of the first and second fingers include a roller member to engage opposite surfaces of the pre-preg ply and supply a compressive gripping force. The roller member on either or both the first and second fingers preferably include a torque regulator to selectively adjust an associated roller member's resistance to rotation via supply of a rotational torque resistance.

An end-of-arm tool lifts a stack of totes and ejects a lowermost tote one at a time. The tool includes fixed unloading arms on which an outgoing tote slides in response to a pusher. A pair of staging arms lift the totes above the outgoing tote to free the outgoing tote and enable the outgoing tote to slide on the unloading arms.

An improved method and apparatus for automatically picking a fruit is described. During the clamping stage, the movement of the fingers is controlled such that a specific maximum clamping force is not exceeded. In addition, during at least a part of the removal stage, the mutual position of the fingers is controlled by the drive such that their mutual distance does not increase.

A coating system includes a plurality of liquid immersion workstations positioned along an arcuate path, the plurality of liquid immersion workstations defining a single complete coating process for a sequence of objects. A plurality of curing workstations are configured to independently receive objects of the sequence of objects exiting the plurality of liquid immersion workstations. An articulated robotic arm has a base positioned inside the arcuate path in top plan view such that the robotic arm is operable to carry each object of the sequence of objects through each of the plurality of liquid immersion workstations and to exactly one of the plurality of curing workstations. An articulated robotic hand is provided at a distal end of the robotic arm and configured to grasp and hold each of the objects and to oscillate the object while submerged in each of the plurality of liquid immersion workstations.

A robot arm assembly for detecting a pose and force associated with an object is provided. The robot arm assembly includes an end effector having a plurality of fingers, and a deformable sensor provided on each finger. The deformable sensor includes a housing, a deformable membrane coupled to the housing, an enclosure filled with a medium, and an internal sensor disposed within the housing having a field of view directed through the medium and toward an internal surface of the deformable membrane. A processor is configured to receive an output from each internal sensor, the output including a contact region of the deformable membrane as a result of contact with the object. The processor determines an amount of displacement of the contact region based on the output from each internal sensor, and determines the pose and the force associated with the object based on the amount of displacement.

A robot arm assembly for detecting a pose and force associated with an object is provided. The robot arm assembly includes an end effector having a plurality of fingers, and a deformable sensor provided on each finger. The deformable sensor includes a housing, a deformable membrane coupled to the housing, an enclosure filled with a medium, and an internal sensor disposed within the housing having a field of view directed through the medium and toward an internal surface of the deformable membrane. A processor is configured to receive an output from each internal sensor, the output including a contact region of the deformable membrane as a result of contact with the object. The processor determines an amount of displacement of the contact region based on the output from each internal sensor, and determines the pose and the force associated with the object based on the amount of displacement.

End-of-arm tools to be coupled to a robotic arm and configured to handle structural lumber objects are disclosed as are methods of use for such. The end-of-arm tools comprise opposing jaws to grip the lumber objects. The opposing jaws are coupled to a rigid frame via a four-bar linkage providing mechanical advantage and over-center functionality. An actuated extractor extends between the opposing jaws to engage the lumber object upon release. Assemblies of multiple end-of-arm tools coupled together are also disclosed.

A second hand H2 that couples a first workpiece to a second workpiece, where the first and second workpieces are to be coupled to each other by insertion coupling, includes: a second gripper 5 that grips the first workpiece; a straight-moving actuator 6 that moves the second gripper 5 straight in the direction of a predetermined axis E; and a rotation actuator 7 that rotates the second gripper 5 about the axis E. The second gripper 5 includes three second fingers 51 that grip the first workpiece, and a linkage 52 that opens and closes the three second fingers 51.