Assembly equipment comprises a base, a first holding hand provided in a first robot arm set on the base, a second holding hand provided in a second robot arm set on the base, and a control device configured to control the first and second robot arms and the first and second holding hands. The first holding hand comprises an attachment connected to the first robot arm and having a rotation shaft, and an aligning holding mechanism provided in a rotation mechanism having a rotation shaft located to intersect the rotation shaft of the attachment or located in a skewed positional relationship with the rotation shaft of the attachment. A cooperative working area of the first and second holding hands is provided in an overlapping area where working areas of the first and second holding hands overlap with each other.

A spring assembly for 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.

A control system for a continuum robot including at least one curvable unit driven by a wire and configured to be curvable, and a driving unit driving the wire includes: a position control unit performing control so that an error between a target displacement of push-pull driving of the wire by the driving unit and a displacement of a wire holding mechanism holding the wire obtained from a continuum robot is compensated; a force control unit performing control so that an error between a target generated force corresponding to a target tension of the wire output from the position control unit and a generated force corresponding to a tension of the wire obtained from the continuum robot is compensated; and wherein a first loop control system including the force control unit and a second loop control system including the position control unit.

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 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.

Provided is a multi-joint robot which is capable of performing motion control and includes a part for easily setting a moving path, an angle, and the like of a take-out device in a process of taking out an injection-molded object. To this end, the present disclosure includes a molding part configured to mold an object, a multi-joint robot configured to move close to the molding part and take out the object, a first controller connected to the above work components and configured to control driving of the work components, a marker connected to the first controller and provided on each of joints of the multi-joint robot, and a camera part configured to photograph movement of the marker, and transmit movement information of the multi-joint robot according to the movement of the marker to the first controller, and an overrun detector is provided on at least one of the joints of the multi-joint robot to detect an overrun operation exceeding an operation range of a joint movement and transmit a warning signal about the overrun operation to the first controller. According to the present disclosure, even a low-skilled worker can easily set access and work of a worker at an injection molding site without performing coding, thus reducing a difficulty level of work and maximizing process efficiency, control whether to perform injection according to whether a door is open or not, thereby securing safety, and control quality and a take-out environment using environmental information received by the molding part.

A robotic medical system can include a motorized arm that is supported by a column of the system. The robotic arm can be operated by rotating a link of the motorized arm by actuating an actuator to drive rotation of a rotary joint. A brake can then be applied to the rotary joint to stop rotation of the link. The arm can also include an arbor that can be actuated to increase a torsional stiffness of the rotary joint.

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.

Electronic device manufacturing systems, robot apparatus and associated methods are described. The robot apparatus includes an arm having an inboard end and an outboard end, the inboard end is configured to rotate about a shoulder axis; a first forearm is configured for independent rotation relative to the arm about an elbow axis at the outboard end of the arm; a first wrist member is configured for independent rotation relative the first forearm about a first wrist axis at a distal end of the first forearm opposite the elbow axis, wherein the first wrist member includes a first end effector and a second end effector. The robot apparatus further includes a second forearm configured for independent rotation relative to the arm about the elbow axis; a second wrist member configured for independent rotation relative the second forearm about a second wrist axis, wherein the second wrist member comprises a third end effector and a fourth end effector. The robot apparatus further includes a third forearm configured for independent rotation relative to the arm about the elbow axis; and a third wrist member configured for independent rotation relative the third forearm about a third wrist axis, wherein the third wrist member includes a fifth end effector and a sixth end effector.

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 control system for a continuum robot including at least one curvable unit driven by a wire and configured to be curvable, and a driving unit driving the wire includes: a position control unit performing control so that an error between a target displacement of push-pull driving of the wire by the driving unit and a displacement of a wire holding mechanism holding the wire obtained from a continuum robot is compensated; a force control unit performing control so that an error between a target generated force corresponding to a target tension of the wire output from the position control unit and a generated force corresponding to a tension of the wire obtained from the continuum robot is compensated; and wherein a first loop control system including the force control unit and a second loop control system including the position control unit.