A link actuation apparatus includes: a parallel link mechanism including a proximal-side link hub, a distal-side link hub, and three or more link mechanisms each coupling the distal-side link hub to the proximal-side link hub such that a posture of the distal-side link hub can be changed relative to the proximal-side link hub; posture control drive sources; and a control device. The control device includes an abnormality detector including: a measurement section configured to measure a predetermined state value which is affected by abnormality in revolute pair parts of a link actuation apparatus body constituted by the parallel link mechanism and the posture control drive sources; and a determination section configured to determine if any of the revolute pair parts has abnormality in on the basis of a measurement result obtained by the measurement section. For example, the measurement section measures rigidity, or driving torque or the like.

A quaternion joint includes a first member, a second member rotatably connected to the first member through links, a plurality of first pulleys provided on the end face of the first member so that the first pulleys are able to swing, a plurality of second pulleys provided on the end face of the second member facing the end face of the first members so that the second pulleys correspond to the first pulleys and so that the second pulleys are able to swing, and a plurality of wires hung between the first pulleys and the second pulleys corresponding to the first pulleys. A rotation shaft of the first pulley is offset from a rotation shaft of the second pulley corresponding to the first pulley in a state in which the rotation shaft of the first pulley is rotated around a direction in which the wire is extended.

A working unit includes a tool rotation mechanism, a first turning mechanism turning the tool rotation mechanism about a first axis, and a second turning mechanism turning the tool rotation mechanism and the first turning mechanism about a second axis perpendicular to the first axis. The first turning mechanism includes a motor having a stator connected to the second turning mechanism and a hollow shaft-shaped rotor arranged inside the stator in such a manner that the rotor is capable of rotating about the first axis, and a second rotating body including one arm portion coupled to one end portion of the rotor, the other arm portion coupled to the other end portion of the rotor, and an arm coupling portion that couples the arm portions to each other. The tool rotation mechanism is provided on the second rotating body.

An industrial robot including a manipulator for movement of an object in space. The manipulator includes a movable platform arranged for carrying the object, a first arm arranged for influencing the platform in a first direction and including a first inner arm part rotatable about a first axis, a second arm arranged for influencing the platform in a second direction and including a second inner arm part rotatable about a second axis, a third arm arranged for influencing the platform in a third direction and including a third inner arm part rotatable about a third axis.

A movement conversion apparatus has a frame, a plurality of auxiliary moving bodies connected to the frame to allow linear movement, a plurality of actuators configured to move the plurality of auxiliary moving bodies with respect to the frame, a main moving body surrounded by the plurality of auxiliary moving bodies and connected to the plurality of auxiliary moving bodies to have a hollow formed therein, and a rotating body rotatable on the basis of a rotary shaft fixed through the hollow. The plurality of auxiliary moving bodies are selectively moved to adjust a location of the main moving body. The rotating body is inserted into the hollow to rotate by a movement of the main moving body.

Disclosed is a cable-driven parallel robot capable of changing a workspace, in which the cable-driven parallel robot is provided with an end effector having a plurality of modules that can efficiently move to upper and side parts of an object without interference. Module-direction changing standby stations are provided on each of opposing sides of an upper frame such that the modules of the end effector are coupled to the module-direction changing standby station for direction change standby, so that the modules can efficiently move to upper and side parts of the workspace without interference, thereby maximizing work efficiency. To this end, there is provided a cable-driven parallel robot including: an installation frame, and upper and side frames; a plurality of driving units; a plurality of cables; the module-direction changing standby station; and an end effector provided with a plurality of modules.

A parallel link device whose height can be reduced particularly when a movable-side member is brought closer to a fixed-side member, and in which an amount of stroke of the movable-side member can be increased. Specifically, the parallel link device includes a fixed-side member, a movable-side member, six links, and slide mechanisms. Each of the six links has one end connected to the movable-side member with at least two rotational degrees of freedom, and the other end connected to the fixed-side member with at least two rotational degrees of freedom. A connection point of the other end and the fixed-side member is movable with respect to the fixed-side member. Each of the six links has five rotational degrees of freedom and a predetermined length. Each of the slide mechanisms is provided on the fixed-side member and holds the other end of the link movable within a predetermined range.

A robotic wrist includes a wrist frame, a first actuator having a first actuator output, and a second actuator having a second actuator output. A first mechanical linkage includes a first input coupled to the first actuator output and a first output coupled to the wrist frame. A second mechanical linkage includes a second input coupled to the second actuator output and a second output coupled to the wrist frame. A rotational position of the first output about a first axis is responsive to a position of the first actuator output. A rotational position of the second output about a second axis that is transverse to the first axis is responsive to a different between a position of the first actuator output and a position of the second actuator output.

The present invention includes an apparatus (1) and a method for handling articles and comprises an upper suspension (3) with at least three rotatably driven positioning arms (5), where the positioning arms (5) each comprise at least two arm sections (7, 9) that are swivelable relative to each other and operated independently of one another. A manipulator (32) comprises one or more clamping jaws (34, 36) and is mechanically coupled to the positioning arms (5) such the manipulator can be positioned by movement of one or more of the positioning arms (5). At least one drive shaft (12) is linked non-rotatingly to the manipulator, such that the manipulator is rotated by movement of the at least one drive shaft (12). Rotation of the at least one drive shaft (12) also controls the one or more clamping jaws (34, 36) via the at least one actuating shaft (14).

A robotic positioning apparatus configured for moving an element from an initial position to a target position. The apparatus includes a moveable member attachable to an element to be moved; at least one tensile support member for supporting the movable member; and at least one tensile positioning member for repositioning the moveable member. The at least one tensile positioning member is configured to maintain the at least one tensile support member in tension. The at least one tensile support member is configured to maintain an inclination of at least a portion of the moveable member during repositioning.