A joint structure for a robot includes a first link and a second link rotatably coupled to each other through a joint part and a first linear-motion actuator and a second linear-motion actuator coupling the first link to the second link at a part separated from the joint part. The first linear-motion actuator and the second linear-motion actuator are each connected with the first link and the second link so as to be rotatable about two axes perpendicular to each other. When the second link is in an upright state, a first shaft member and second shaft members are disposed so that an angle formed by axial centers thereof becomes a right angle and the axial centers are oriented in a horizontal direction.

A parallel link robot includes: a base part; a movable part including an accessory shaft; arms coupling the base and movable parts in parallel; and actuators that drive the respective arms, where each of the arms includes a driving link driven by each of the actuators, and two parallel passive links coupled to the driving link, between the passive links of at least one of the arms, an additional actuator having a rotating shaft disposed in parallel to the passive links is supported by a first link swingably coupled to each of the passive links, the accessory shaft, and the rotating shaft are coupled by a transmission shaft, and the transmission shaft is supported, at an intermediate position in a direction along a longitudinal axis thereof, on a second link rotatably around the longitudinal axis, the second link being swingably coupled to each of the passive links.

The invention relates to a robot unit (1) having—a base (2),—an effector unit (8),—at least two connecting arms (3) 1:7 for connecting the base and the effector unit (8), and—a base motor (10) for each of the at least two connecting arms (3) in order to move the respective connecting arms relative to the base, wherein—a first arm part (4) of each of the at least two connecting arms (3) is arranged on the base (2) and a second arm part (5) of each of the at least two connecting arms (3) is arranged on the effector unit (8), and wherein—each first arm part (4) and its associated second arm part (5) are movably connected to each other by a connecting N element (13). In order to allow improved movability for the effector unit (8), according to the invention,—the at least two connecting arms (3) each have a pivot bearing (15), wherein the pivot bearings (15) each allow rotation of at least one component (7) of the arm parts (4, 5) about an axis of rotation (20) oriented parallel to its direction of extension.

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.

A mechanism is constructed by spherical concentric geometry and controlled by spherical coordinate kinematics. Transmission belts, pulleys, shafts, and spur gears are added onto three arc-link sets. Via these transmission components, base arc-links can be indirectly or directly but synchronously rotated by base driving modules and terminal arc-links can be indirectly or directly but synchronously rotated by terminal driving modules.

An embodiment joint structure for a robot includes an upper plate provided in an upper region, a link part coupled to a lower surface of the upper plate, wherein the link part includes a first link and a second link, and wherein the first link and the second link are provided close to one side of the upper plate with respect to a center of the lower surface of the upper plate, a support part coupled to the lower surface of the upper plate and configured to support the upper plate, wherein the support part is provided to be closer to the center of the lower surface of the upper plate than is the link part, and a motor part configured to provide power to the support part and the link part.

Disclosed are a master-slave mapping method for parallel platform, and a robotic arm system and a storage medium. The method comprises: acquiring a first transformation relationship between a user coordinate system and a calculation coordinate system; mapping displacement amounts of an end of a master manipulator in a master user coordinate system to an end of the movable platform according to a set proportional coefficient, to obtain a first target position of the end of the movable platform; determining a second target position of the end of the movable platform according to the first transformation relationship and the first target position; obtaining a movement amount of each of the telescopic rods of the parallel platform according to the second target position, and controlling a motion of the parallel platform according to the movement amount of each of the telescopic rods. The control of the robotic arm is simplified.

A parallel kinematic machine (PKM) includes a support platform and first, second, and third support linkages. The first, second, and third support linkages together include at least five support links. The PKM further includes a tool base having a shaft joint, a tool base shaft, and a tool platform. The tool base shaft is connected to the support platform via the shaft joint, rigidly connecting the tool platform and the tool base shaft. The PKM also includes one or more tool linkages, each including a tool link connected at one end, via a tool base joint, to the tool base, and at the other end connected, via a tool carriage joint, to a movable carriage. Each tool linkage is configured to rotate the tool base shaft around at least one axis relative to the support platform by transferring a movement of the respective tool linkage to the tool base shaft.

A joint mechanism includes: a first link and a second link; a joint portion that rotatably connects the first link and the second link; a pulley provided on the joint portion; and a linear member that extends from one end on the first link side to the other end on the second link side, the linear member being wound around a pulley halfway through. The rotation center of the joint portion is offset with respect to the center of the pulley such that a change in a path length of the linear member when the joint portion is extended and bent is reduced.

A manipulator includes a base body, a first link supported to be capable of advancing and retracting with respect to the base body, a first leaf spring connected to a tip of the first link as a rotation pair by a first base end pin, a second link that is arranged with the first link side by side and is supported to be capable of advancing and retracting with respect to the base body, a second leaf spring connected to a tip of the second link as a rotation pair by a second base end pin in the same direction as the first base end pin, and a driven link that is connected to tips of the first and second leaf springs as rotation pairs by first and second tip pins in the same direction as the first and second base end pins, respectively.