The system can include a set of joints, a controller, and a model engine; and can optionally include a support structure and an end effector. Joints can include: a motor, a transmission mechanism, an input sensor, and an output sensor. The system can enable articulation of the plurality of joints.

A robot includes a base attached to an end of a robotic arm, a conveyor fixed to the base, and a holder to hold a workpiece and place the workpiece on a transferring surface of the conveyor. The holder includes a pivot shaft extending along the conveyor in a transferring direction of the conveyor, and reciprocatable or telescopic in the transferring direction, a pivoting structure attached to the pivot shaft so as to be reciprocatable in the transferring direction, and pivotable centering on the pivot shaft in a plane in which a width direction perpendicular to the transferring direction intersects with a height direction perpendicular to the transferring direction and the width direction, and a holding structure upstream of the pivoting part in the transferring direction to hold the workpiece.

The present disclosure provides a collaborative robot arm and a joint module. The joint module includes a housing, a driving assembly, and a multi-turn absolute encoder. The joint module detects the angular position of the output shaft and records a number of rotating revolutions of the output shaft only by means of the multi-turn absolute encoder. The multi-turn absolute encoder includes a base, a bearing, a rotating shaft, an encoding disk, and a circuit board, the encoding disk is rotatably connected with the base by the rotating shaft and the bearing, the circuit board is fixedly connected with the base, and the reading head on the circuit board detects the angular position of the output shaft cooperatively with the encoding disk, making the multi-turn absolute encoder be an integrated structure. The base and the rotating shaft are detachably connected with the housing and the output shaft respectively.

A rotary-type series elastic actuator (SEA) for use in robotic applications. The SEA including a motor, gear transmission assembly, spring assembly, and sensors. In one example, a robotic joint may include the SEA as well as two links coupled with each other at the joint assembly. The two links may be designated as input and output links. Each link may have a joint housing body which may be concentrically connected via a joint bearing so that they freely rotate against each other. The housing frame of the SEA may be fixed at the joint housing body of the input link while the output mount of the spring assembly of the SEA may be concentrically coupled with the joint housing body of the output link. The rotation of the motor rotor causes the rotation of the output link with respect to the input link plus spring deflection of the spring assembly. When an external force or torque are applied between the two links, a control action of a control loop may cause a rotation and motive force of the motor that lead to the deflection of the spring assembly to balance with the external force/torque and inertial force from body masses moving together with the links.

A robotic handling apparatus includes a first arm member configured to pivot about a first pivot axis and a first drive unit configured to bring the first arm member into motion about the first pivot axis. A second arm member is configured to pivot about a second pivot axis, the second arm member being connected to the first arm member and having a distal end portion. A second drive unit is configured to bring the second arm member into motion about the second pivot axis. A third arm member is configured to pivot about a third pivot axis. A carrier unit is connected to the distal end portion of the second arm member and the distal end of the third arm member to define a distance.

A structure of a joint includes a reduction gear including a shaft configured to support a gear and including a reduction gear case to which rotational force of the gear is transmitted. The joint includes an interposition member interposed between a servo motor and a pivot base. The servo motor is fixed to the interposition member with motor fixing bolts. The shaft is fixed to the pivot base with shaft fixing bolts. A diameter of the positions of the motor fixing bolts and a diameter of the positions of the shaft fixing bolts are smaller than an outer diameter of the reduction gear case. The interposition member has a shape for fixing the motor fixing bolts at positions away from the shaft fixing bolts.

A segment of a holding arm for positioning a medical instrument or a medical appliance including several node structures, and a strut that rigidly connects two of the several node structures to each other. The strut includes flat structures that are joined to one another.

This application provides a robotic arm and a control method therefor. The robotic arm comprises a spatial positioning mechanism, a planar motion mechanism and a connection and rotation joint connecting the spatial positioning mechanism and the planar motion mechanism. The space positioning mechanism comprises a base, and a joint mechanism, the joint including multiple joints, with the joint at a head end thereof installed onto the base, and the joint at a tail end rotatably connected to the connection and rotation joint; a tail end of the planar motion mechanism is connected to a surgical instrument, Perpendicular line of a plane where the planar motion mechanism is located is perpendicular to rotation axis of the connection and rotation joint; and the intersection between the rotation axis and axis of the surgical instrument is an active remote-center-of-motion point, which facilitates setting of the active remote-center-of-motion point and reduces occurrence of multi-arm collision.

An arm joint for a manipulator having a motor with a transmission, comprising a gear wheel that can rotate about a transmission axis of rotation, wherein the gear wheel is rotatably mounted in a housing of the arm joint and has an adapter on at least one of its end sides, and wherein the adapter has an opening that is central relative to the transmission axis of rotation on the side facing away from the end side of the gear wheel The central opening has an internal thread for the purpose of a simple construction, easy assembly and a great number of variation possibilities in terms of construction and application.

A joint device according to one aspect of the present disclosure is provided with an output shaft pivotally supported by a first link and connected to a second link, a rotary drive source provided in the first link, a first transmission mechanism that transmits the rotational force of the rotary drive source to the output shaft, a braking shaft provided in the first link, a second transmission mechanism that transmits the rotation of the output shaft to the braking shaft separately and independently from the first transmission mechanism, and a brake that brakes the rotation of the braking shaft.