A retainer that holds a plurality of first balls is arranged between a slide body constituting a slide portion and a base plate constituting a table portion, the plurality of first balls are arranged around an axis of the slide portion that coincides with the Z-axis, and a single second ball is arranged on the axis of the slide portion between a ball receiving plate constituting the slide portion and a ball receiving plate constituting the table portion.

A surgical robotic component comprising an articulated terminal portion, the terminal portion comprising: a distal segment having an attachment connected thereto, an intermediate segment, and a basal segment whereby the terminal portion is attached to the remainder of the surgical robotic component. The terminal portion further comprises a first articulation between the distal segment and the intermediate segment, the first articulation permitting relative rotation of the distal segment and the intermediate segment about a first axis, and a second articulation between the intermediate segment and the basal segment, the second articulation permitting relative rotation of the intermediate segment and the basal segment about a second axis. The intermediate segment comprises: a third articulation permitting relative rotation of the distal segment and the basal segment about third and fourth axes, a first torque sensor configured to sense torque about the third axis, and a second torque sensor configured to sense torque about the fourth axis. The first, second and third articulations are arranged such that in at least one configuration of the third articulation the first and second axes are parallel and the third and fourth axes are transverse to the first axis.

A robotic coupling joint system and method are discussed herein, which may be utilized with a daylighting system or photovoltaic system to track sunlight. The system may provide a spherical joint allowing axial motion about two or more axes of the spherical joint. The joint comprises a first plate with four or more sockets, a second plate, a connector, and one or more spheres positioned between the first and second plates. The connector secures the sphere between the first and second plates. The system may also include a stand, an end effector coupled to the stand by the spherical joint, and a mobility system that is capable of actuating the end effector. The mobility system includes two or more linking elements coupled to the end effector, and a motor coupled to the linking elements to actuate the end effector to track sunlight.

A disclosed electrical conductor includes a ball part having a first electrical component and a socket part having a second electrical component. The ball and socket parts are connected together to allow movement relative to one another. The ball part includes at least one groove spaced around its surface that is electrically connected to the first electrical component by an electrical contact. The socket portion is electrically connected to the second electrical component. Most of the length of the electrical contact is located outside of the ball part so that rotation of the ball-and-socket joint is allowed with the contact riding over the ball part. A free end of the contact has an inwardly extending part that is constrained to move within the groove and to be forced against a conductive strip, to thereby establish an electrical connection between the first electrical component and the second electrical component.

A surgical robotic component comprising an articulated terminal portion, the terminal portion comprising: a distal segment having an attachment connected thereto, an intermediate segment, and a basal segment whereby the terminal portion is attached to the remainder of the surgical robotic component. The terminal portion further comprises a first articulation between the distal segment and the intermediate segment, the first articulation permitting relative rotation of the distal segment and the intermediate segment about a first axis, and a second articulation between the intermediate segment and the basal segment, the second articulation permitting relative rotation of the intermediate segment and the basal segment about a second axis. The intermediate segment comprises: a third articulation permitting relative rotation of the distal segment and the basal segment about third and fourth axes, a first torque sensor configured to sense torque about the third axis, and a second torque sensor configured to sense torque about the fourth axis. The first, second and third articulations are arranged such that in at least one configuration of the third articulation the first and second axes are parallel and the third and fourth axes are transverse to the first axis.

A constant velocity (CV) joint system include a CV joint assembly with a first elongated ring pivotally attached to a second elongated ring via a first rotating housing and a second rotating housing, the first rotating housing and the second rotating housing being configured to rotate along a first axis; a third elongated ring pivotally attached to a fourth elongated ring via a third rotating housing and a fourth rotating housing, the third rotating housing and the fourth rotating housing being configured to rotate along a second axis; a first sliding support; and a second sliding support. The first sliding support includes a first elongated opening; and a second elongated opening, the first elongated opening extending in a direction relatively perpendicular to the second elongated opening. The second sliding support includes a third elongated opening and a fourth elongated opening, the third elongated opening extending in a direction relatively perpendicular to the fourth elongated opening.

A positioning unit includes two control carriages and a work carriage, it being possible to move the two control carriages and the work carriage on tracks that extend in parallel with one another. There is a working arm being articulated on a work base point on the work carriage and a control arm being articulated on a control base point on each of the control carriages. The control arms are articulated on the working arm at a control point of the working arm, the control point being spaced apart at a predefined lambda distance (d) from an end of the working arm that forms a working-point end and faces away from the work base point, and the two control base points and the work base point defining a triangle. At least two carriages of the two control carriages and the work carriage are movably arranged on a shared guide.

A joint device (1), which has a second joint body (3), which second joint body is pivotably mounted in a ball socket (9) of a first joint body (12) by means of a joint ball (8). The joint ball (8) is a hollow ball and has, on its inner peripheral surface (23), output teeth (33), with which, in the ball interior (25), the input gears (55, 56) of two drive units (4, 5) rotatably mounted on the first joint body (2) are in tooth engagement. By selective rotation of one or both drive units (4, 5), the second joint body (3) can be driven to perform a working pivoting movement (6) relative to the first joint body (2).

A buffer assembly is provided that includes a first mounting seat, a second mounting seat, a hinge assembly, and an elastic member. One of the first mounting seat or the second mounting seat is configured to be connected to a mechanical arm and the other one is configured to be connected to an end picker. The hinge assembly is connected between the first mounting seat and the second mounting seat and includes a first ball joint mounted in the first mounting seat and a guide rod, one of the second mounting seat or the first ball joint is connected to the guide rod, and the other one is slidably sleeved outside the guide rod. The elastic member is configured to apply a force to enable the second mounting seat to approach the first mounting seat. Further provided is a manipulator.

The present invention relates to a robotic arm, including: an upper arm and a front arm; a first joint structure, by which the upper arm and the front arm are articulated together; a second joint structure, arranged at an end of the upper arm and/or an end of the front arm; a first driving mechanism, arranged in the upper arm; and a second driving mechanism, arranged in the front arm, where the first joint structure includes a first force amplification apparatus and a first locking element, the second joint structure includes a second force amplification apparatus and a second locking element, and the first driving mechanism and the second driving mechanism apply an acting force to the first locking element and/or the second locking element by the first force amplification apparatus and/or the second force amplification apparatus. According to the robotic arm in the present invention, the force amplification apparatuses are arranged in the joint structures, which amplifies a locking force and enables the robotic arm to meet the requirements for large load applications under a miniature condition.