A horizontal articulated robot includes a base, a first arm, a second arm, and a cable unit connected to the base and the second arm. The cable unit includes an arm conduit having one end connected to the second arm, and the other end attached to a first plate-shaped member fixed to an upper surface of the base, a number of cables passing through the arm conduit, a second plate-shaped member that closes a back-side opening made in the back surface of the base. The first plate-shaped member is configured to close a top surface opening made in the upper surface of the base, and the top surface opening is continuous with the back-side opening.

A surgical robotic component comprising an articulated terminal portion, the terminal portion comprising: a distal segment having an attachment for a surgical tool; a basal segment for attaching the terminal portion to the remainder of the surgical robotic component; and an intermediate compound joint between the distal segment and the basal segment, the intermediate compound joint permitting relative rotation of the distal segment and the basal segment about first, second and third axes; the terminal portion being arranged such that, in at least one configuration of the intermediate compound joint: (i) the axial direction of the basal segment is parallel to the axial direction of the distal segment, and (ii) the first, second and third axes are transverse to the axial directions of the basal and distal segments.

A mechanical arm assembly is generally presented. The mechanical arm assembly comprises a plurality of joints including a first joint, one or more intermediate joints, and a terminal joint connected in consecutive series and each configured to rotate with respect to any respective adjacent joints. The first, intermediate, and terminal joints are configured with their base and top arranged at a given angle with respect to the normal plane of the joint, such as parallel to the normal plane or 22.5 degrees with respect to the normal plane. Rotation of the joints is controlled by control wires. The control wires may be routed internally through the joints or externally outside of the joints.

An arm joint is provided with a first coupling part with a first axis and a second coupling part with a second axis. Further, the arm joint includes a third coupling part connected in a manner rotatable around a third axis with the first coupling part. The third axis includes an angle with the first axis in the range of 30-60 degrees, preferably of 45 degrees. The third coupling part is connected in a manner rotatable around a fourth axis with the second coupling part. The fourth axis includes an angle with the second axis in the range of 30-60 degrees, preferably of 45 degrees. The third and the fourth axis mutually include an angle in the range of 60-120 degrees, preferably of 90 degrees. A robot arm with a number, preferably three, of such arm joints is also disclosed.

The invention relates to an articulated robot arm (1) which comprises a plurality of trapezoidal truncated cylinders (2) disposed in succession around an internal holding member (4), each trapezoidal truncated cylinder (2) being configured to pivot about the internal holding member (4), the internal holding member (4) having angular control means for controlling the rotation of each trapezoidal truncated cylinder (2).

In embodiments, a holding device includes a suction pad, a first link, a second link, a base, and a tube member. The first link supports the suction pad so that the suction pad can rotate around a first rotation axis. The second link supports the first link so that the first link can rotate around a second rotation axis. The base supports the second link so that the second link can rotate around a third rotation axis. The tube member communicates the suction pad with the base and can be bent. The second rotation axis and the third rotation axis are not parallel to each other.

A multi-joint robot arm including a pair of support sections separated by a specified gap in a width direction; a first arm rotatably supported by a first joint on the pair of support sections and formed from a pair of first side plate members with a level difference such that a gap between the first joint and an end section on an opposite side becomes narrower towards the width direction side; a second arm arranged inside of the pair of first side plate members, rotatably supported by a second joint on the first side plate members, and provided with a level difference such that a gap between the second joint and an end section on the opposite side gets wider towards the width direction side; and a robot hand attached to the second arm on an end portion on the opposite side to the second joint.

A robot arm comprising a number N of actuator-drivable joint connections GV.sub.n, which are connected in series via arm links GL.sub.i, where n=1, 2, . . . , N, and i=1, 2, . . . , N1, and N6, wherein the robot arm is configured in such a way that the axes of rotation R.sub.GV,N-2 and R.sub.GV,N-1 of each of joint connections GV.sub.N-1, GV.sub.N-2 intersect at an angle in the range from 50 to 130, an axis of rotation R.sub.GV,N of joint connection GV.sub.N, is arranged radially at a constant distance D1 from the axis of rotation R.sub.GV,N-1, and a sensor is present in the joint connection GV.sub.N-1 to detect a force or a torque about the axis of rotation R.sub.GV,N-1.

Link for an articulated manipulator, comprising a tubular body extending along a longitudinal axis thereof and having a first joint end and a second joint end, wherein the first joint end and the second joint end define a first joint plane and a second joint plane, respectively. The first joint plane and the second joint are each at an inclination angle with respect to the longitudinal axis, wherein the first joint plane is arranged parallel to a first axis and wherein the second joint plane is arranged parallel to a second axis, the longitudinal axis being perpendicular to the first axis and second axis, and wherein the first axis and second axis are at a mutual twist angle of at least one times the inclination angle.

The invention relates to a transport device (38) for transporting a workpiece (23) between a clamping chuck (22) and a workpiece carrier (30). The transport device (38) comprises a gripper arrangement (39) with a pivot arm (40). One end of the pivot arm (40) is supported on the machine tool (20) and, in particular, a machine slide (25) via a first pivot drive (41) so as to be pivotable about a first pivot axis (S1). On the other end, the pivot arm (40) supports a second pivot drive (42) that defines a second pivot axis (S2). A workpiece gripper (43) is supported so as to be pivotable about this second pivot axis (S2). The two pivot axes are inclined by 45 relative to each other. A workpiece (23) held by the workpiece gripper (43) has a workpiece longitudinal axis (W) that extends in a first position (I) of the workpiece gripper (43) at a right angle with respect to the pivot axis (S1). In a second position (II) of the workpiece gripper (43), the workpiece longitudinal axis (W) is oriented parallel to the first pivot axis (S1). The workpiece longitudinal axis (W) of the workpiece (23) held by the workpiece gripper (43) is inclined by 45 relative to the second pivot axis (S2).