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.

A gripping device, a robot and a method for sensing force information. The device includes a case, linkage gripping assemblies mutually matched to grip an object, a driving assembly and a plurality of load cells. Each linkage gripping assembly includes a fingertip, a first link fixedly connected to the fingertip, a second link including a first end rotatably connected to a first end of the first link and a second end rotatably connected to the case, and a third link including a first end rotatably connected to a second end of the first link and a second end rotatably connected to the case. The driving assembly is in transmission connection with the second end of the second link to rotate the second link. Each load cell is disposed in a respective one of at least three of the first link, the second link, the third link and the driving assembly.

An air chuck includes: a finger support part including a pair of fingers; a chuck main body part including an operation mechanism operable to open and close the pair of fingers; and linking mechanisms that detachably link the finger support part to the chuck main body part. The linking mechanisms each include: a linking shaft that extends from the finger support part; a shaft insertion hole formed in a body of the chuck main body part; a catch body that becomes elastically caught on a catch surface of the linking shaft when the linking shaft is inserted into the shaft insertion hole; and a delinking member that is manually operated so as to release the catch body caught on the catch surface when the finger support part is detached from the chuck main body part.

A method for masking cooling passages of a turbine component having an external surface, an internal cavity for receiving cooling air, and cooling passages extending therebetween. The location and angle of cooling passages are determined using a robotic arm and a location system. A masking device is placed in the cooling passages located during the locating step. The masking device includes a head portion having a gripping feature for gripping by a robotic arm, and a locating feature for orientation of the masking device by the robotic arm. A retaining portion extending from the head portion is arranged and disposed to retain the masking device in a cooling passage. The retaining portion is narrower proximate a distal end than proximate the head portion. The component and head portion of the masking devices are coated. The masking devices may be removed using the robotic arm and locating system.

Provided are a gripper and a robot. The gripper includes a case, a plurality of gripping assemblies respectively assembled to the case, and a driving assembly configured to move the plurality of gripping assemblies. Each gripping assembly is provided with a fingertip at an end portion, and fingertips of the gripper are configured to cooperate with each other for grasping. Each gripping assembly further includes a gear set and a gear carrier rotatably connected to the case. The gear set includes a fixed gear, an intermediate gear and a fingertip gear engaged in sequence. The fixed gear is fixedly connected to the case, and the fingertip gear is fixedly connected to the fingertip. The intermediate gear and the fingertip gear are mounted to the gear carrier and respectively rotatably connected to the gear carrier. The driving assembly is configured to rotate the gear carrier.

An air chuck includes: a finger support part including a pair of fingers and a pair of lock shafts; a chuck main body part including an operation mechanism operable to open and close the fingers; and linking mechanisms that detachably link the finger support part to the chuck main body part. Each of the linking mechanisms causes the corresponding lock shaft to shift to a non-lock position so as to render the pair of fingers capable of being opened and closed when the finger support part is linked to the chuck main body part. Each of the linking mechanisms causes the corresponding lock shaft to shift to a lock position and locks the pair of fingers so as to render the pair of fingers incapable of being opened and closed when the finger support part is detached from the chuck main body part.

A hand includes a hand body in which a predetermined first reference axis is defined, a gripper in which a predetermined second reference axis is defined and which grips a workpiece, and a coupler that couples the gripper to the hand body. The coupler includes at least one of a decentering supporter that supports the gripper such that the second reference axis is capable of being decentered with respect to the first reference axis, or a tilt supporter that supports the gripper such that the second reference axis is capable of being tilted with respect to the first reference axis.

Apparatuses including gripping mechanisms including extendable fingers and methods of manipulating items using the gripping mechanisms are described herein. An example apparatus may include a frame, a pair of carriages coupled to the frame and moveable by one or more drive units, a pair of fingers, and a set of linkages connecting the pair of fingers with the pair of carriages. The one or more drive units are operable to cause the fingers to move towards each other and to move away from each other.

A ten-link gripping mechanism having a modular structure and a single degree of freedom, for robots, machines and handling devices, includes at least one eight-link finger mechanism with a gripper jaw, guided as a coupler by two four-bar linkages based one on the other. The choice of the dimensions of the individual elements enables the movement of the gripper jaw to be adapted to the task at hand while using only a single drive. The drive can be of a universal type, such as pneumatic, electromotive, magnetic or by means of a spring.

A ten-link gripping mechanism having a modular structure and a single degree of freedom, for robots, machines and handling devices, includes at least one eight-link finger mechanism with a gripper jaw, guided as a coupler by two four-bar linkages based one on the other. The choice of the dimensions of the individual elements enables the movement of the gripper jaw to be adapted to the task at hand while using only a single drive. The drive can be of a universal type, such as pneumatic, electromotive, magnetic or by means of a spring.