A device and method for judging the presence or absence of an abnormal clearance between paring elements of a passive joint of a robot. The device has sections configured to: calculate a score for each motion path, wherein the score is increased when the paring elements of an objective pair collide with each other and is decreased when the paring elements of the other pair collide with each other; generate a robot motion for moving the robot along the motion path having the score not lower than a predetermined threshold; measure a drive torque or a current value of a motor when the robot is moved according to the generated robot motion; calculate an index value based on a magnitude of variation of the measured drive torque or current value; and judge as to whether the abnormal clearance exists in the objective pair, based on the index value.

A linear delta system includes a frame, rails secured to the frame, linear actuators, each linear actuator coupled to a respective rail and configured to translate along a longitudinal length of the respective rail, pairs of parallel rods each operably coupled to a respective linear actuator, a platform coupled to the pairs of parallel rods, structure configured to movable couple an object to the platform; and at least one degree of freedom imparting assembly including a profiled rod extending in a direction parallel to the rails and a drive unit configured to rotate the profiled rod, wherein the at least one degree of freedom imparting assembly is configured to impart a degree of freedom to the object.

A profiling apparatus includes: a holder rotationally moves around a first fulcrum, and holds a subject; a balancer rotationally moves around a second fulcrum, an intermediate part coupled to holder part and balancer, expands and contracts in a coupling direction, and bends in a direction orthogonal to the coupling direction, in which a position of the first fulcrum, a first gravity center position, a bending position, and a second gravity center position are aligned in this order. The first gravity center position corresponds to a gravity center of a part, which rotationally moves around the first fulcrum, of the subject and the holder in a case where the subject is held. The bending position corresponds to a bending point of the intermediate part. The second gravity center position corresponds to a gravity center of a part, which rotationally moves around the second fulcrum, of the second fulcrum position and balancer.

A compliance unit 10 includes a support plate 11, an attaching plate 12, and a fixing disk 22 that has a cylindrical portion 24 fixed to the support plate 11, and an annular, arc surface 26 is formed in a front surface of an annular portion 25 that is provided at a tip of the cylindrical portion 24 so as to protrude radially outside the cylindrical portion. A movable plate 31 is disposed between the annular portion 25 and the support plate 11, and the movable plate 31 is fastened to the attaching plate 12. The attaching plate 12 is provided with an abutment surface 37 opposing the arc surface 26, and the attaching plate 12 is movable to a position where the abutment surface 37 abuts on the arc surface 26 and a position where the abutment surface 37 is separate from the arc surface 26 via a gap 38 between the abutment surface and the arc surface 26.

A power transmission unit of a drive mechanism has a link mechanism on both sides of a base portion. The link mechanism has a first link member having a base end portion provided to the base portion to be rotated about a third rotational axis, a second link member having a base end portion connecting the first link member's distal end portion to be rotated about a fourth rotational axis, and a third link member which is provided to a driven body to be rotated about a fifth rotational axis and to which the second link member's distal end portion is provided to be rotated about a sixth rotational axis orthogonal to the fifth rotational axis. A desired operation angle range of two degrees of freedom in a driven body can be ensured with a compact configuration while suppressing deflection of a structure to which the driven body is mounted.

A boom arm assembly includes an anchoring portion for attachment to an anchoring surface, and a mounting portion for attachment to an auxiliary electrical device. A telescoping link includes an elongate outer member and an elongate inner member. The outer member has a first distal defining a ball joint which is connected to the anchoring portion or the mounting portion, and the inner member has a second distal end defining a ball joint connected to the anchoring portion or the mounting portion. The inner member telescopes within the internal through bore of the outer member. An internal through bore of the inner member and an internal through bore of the outer member align with each other to allow passage of the flexible elongate supply link from the anchoring portion to the mounting portion. A locking mechanism connects locking relative movement between the inner member and the outer member.

A robot comprising an arm extending between a base and an attachment for an end effector, the arm comprising: a first arm part; a second arm part distal of the first arm part; and a joint whereby the first and second arm parts are coupled together, the joint permitting the first and second arm parts to rotate relative to each other about at least two mutually offset axes; a control rod attached to the second part of the arm at a location spaced from the first and second axes, the control rod extending distally of that location along the first arm part; and a drive mechanism for driving the control rod to move relative to the first arm part and thereby alter the attitude of the second arm part relative to the first arm part.

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 collaborative robot motion gauge determines a motion of a collaborative robot and includes: a bar; a dextral metrology member disposed on the bar; a dextral motion coupler moveably disposed on the bar; a dextral displacement sensor disposed on the dextral metrology member in communication with the dextral motion coupler; a dextral arm coupler disposed on the dextral motion coupler and that: couples to a dextral arm of the collaborative robot to the dextral motion coupler; communicates motion of the dextral arm to the dextral displacement sensor; and moves the dextral motion coupler in response to motion of the dextral arm; a sinistral metrology member disposed on the bar at a sinistral position; a sinistral motion coupler; a sinistral displacement sensor in communication with the sinistral motion coupler; and a sinistral arm coupler that couples a sinistral arm to the sinistral motion coupler.

A linear delta system includes a frame, rails secured to the frame, linear actuators, each linear actuator coupled to a respective rail and configured to translate along a longitudinal length of the respective rail, pairs of parallel rods each operably coupled to a respective linear actuator, a platform coupled to the pairs of parallel rods, structure configured to movable couple an object to the platform; and at least one degree of freedom imparting assembly including a profiled rod extending in a direction parallel to the rails and a drive unit configured to rotate the profiled rod, wherein the at least one degree of freedom imparting assembly is configured to impart a degree of freedom to the object.