The subject matter of this specification can be embodied in, among other things, a fluid actuator including a housing defining a first chamber having a first cavity and a first open end, a first piston assembly including a tubular first piston defining a second chamber having a second cavity and a second open end, disposed in said first housing for reciprocal movement in the first chamber through the first open end, wherein a first seal, the first cavity, and the first piston define a first pressure chamber, and a second piston assembly having an second piston disposed in said first piston assembly for reciprocal movement in the second chamber through the second open end, wherein a second seal, the second cavity, and the second piston define a second pressure chamber, and a first portion of the second piston contacts a first end effector.

A welding apparatus includes an articulated robot having a plurality of drive shafts, an end effector supported by the articulated robot, a tip shaft drive mechanism, and a drive control unit. The tip shaft drive mechanism is provided between a tip drive shaft of the articulated robot and the end effector and allows a tip shaft of the end effector to perform a weaving operation. The drive control unit drives the articulated robot and the tip shaft drive mechanism. The tip shaft drive mechanism includes a first-axis drive unit which drives the tip shaft in a first-axis direction that is perpendicular to the tip shaft of the end effector and a second-axis drive unit which drives the tip shaft in a second-axis direction that is perpendicular to the tip shaft and the first-axis direction.

A multi-articulated manipulator composed of more than one hollow outer shell, joints to connect the outer shells to each other, a grasping member fastened for rotating movement with respect to the proximal outer shell, a claw transmission shaft to actuate the grasping member to rotate and an outer shell power transmission shaft to actuate the outer shells in to rotate independently from each other. The claw transmission shaft and the outer shell power transmission shaft respectively are composed of universal joints capable of rotating force and transmitting torque.

A joint attachment system for a reconfigurable truss includes a first joint attachment having a first pivot axis and a second joint attachment having a second pivot axis. The first joint attachment and second joint attachment form a concentric spherical joint linkage when attached to a first body member and a second body member, respectively. The first pivot axis of the first joint attachment intersects the second pivot axis of the second joint attachment at a single point X which defines a center of the concentric spherical joint linkage. The concentric spherical joint linkage is configured to allow the addition of one or more joint attachments and body members to the truss node. In addition, the concentric spherical joint linkage is configured to allow the removal of one or more joint attachments and body members from the truss node.

A universal coupling is provided which can have a wide range of motion of a second member with respect to a first member. The universal coupling is provided with a bearing having an outer ring and an inner ring relatively rotatable about a center line with respect to the outer ring. A shaft that is square to the center line of the bearing is fixed to the inner ring of the bearing. The shaft supports an arm in such a manner as to be rotatable about the shaft. The bearing is connected to the first member. The arm is connected to the second member.

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.

Medical instrument (60, 160, 260, 360) comprising at least one first, second and third joint member (71, 72, 73), at least two pairs of tendons (90, 190, 191, 192) connected with the same joint member and adapted to move said third member (73) with respect to said second member (72), pulling it; and wherein each of said joint member (71, 72, 73) comprises a main structural body comprising in a single piece one or more convex contact surfaces (40, 80, 86, 140, 180), all said convex contact surfaces (40, 80, 86, 140, 180) defining with their prolongations thereof at least partially a single convex volume for each joint member; and wherein the main portion of each tendon is in contact with said jointed device (70, 170, 270) only on said convex contact surfaces; and wherein at least two tendons of said at least two pairs of tendons (90, 190, 191, 192) are in contact with a same convex contact surface.

The invention relates to an articulated robot arm (1) which comprises a plurality of trapezoidal truncated cylinders (2) disposed in succession around an internal holding member (4), each trapezoidal truncated cylinder (2) being configured to pivot about the internal holding member (4), the internal holding member (4) having angular control means for controlling the rotation of each trapezoidal truncated cylinder (2).

A manipulator arm module includes a hollow spool with corresponding top and bottom spool ends. An upper envelope member has a bottom ring rotatably attached to the top spool end, a top ring oriented at an angle to the bottom ring, and struts rigidly connecting the rings. A top drive rotates the bottom ring with respect to the spool. A manipulator arm comprises a plurality of modules the bottom spool end of one module rotatably attached to the top ring of a next lower adjacent module. Each ring is rotationally driven independently. A stabilizer is connected between adjacent spools and allows the adjacent spools to move closer together or farther apart, and resists relative rotative movement of the adjacent spools.

Provided is a transport apparatus which exhibits a strong gripping force, hardly contaminates an object being transported, and has excellent heat resistance. Also provided are a method of manufacturing a semiconductor device and a method of manufacturing an optical member in which the object is transported at high speed. The transport apparatus of the present invention includes a transport member comprising a carrying member and a mounting member; the mounting member includes a fibrous columnar structure; the fibrous columnar structure includes a fibrous columnar structure including a plurality of fibrous columnar objects; the plurality of fibrous columnar objects are each aligned in a direction substantially perpendicular to the carrying member; and a surface of the fibrous columnar structure on a side opposite to the carrying member has a coefficient of static friction against a glass surface of 2.0 or more.