A manipulator system having a positioner having a primary rail, a first coupling linkage, and a second coupling linkage. The first coupling linkage couples the primary rail to a base and positions the primary rail along a first plane. The system has another positioner having a secondary rail, a third coupling linkage, and a fourth coupling linkage. The third coupling linkage couples the secondary rail to the base and positions the secondary rail along a second plane which is parallel to the first plane. A common link couples to the primary and secondary rails via linkages. Each of the second and fourth coupling linkages includes a joint for linear motion along the respective rail, and a revolute joint for relative pivoting between the respective rail and the common link. A position and orientation of the common link are adjustable by the joints and revolute joints.

A machine tool includes a trough which collects chips; a mobile unit which is located above the trough and moves in the longitudinal direction of the trough on a bed, is configured from a first beam member, a second beam member, and a connecting member connecting the first beam member and the second beam member, and is formed with a hollow that opens toward the trough from above; a first guide which supports the mobile unit in such a manner that the mobile unit is movable in the longitudinal direction of the trough; a second guide which faces the first guide across the trough, and supports the mobile unit in such a manner that the mobile unit is movable in the longitudinal direction of the trough; and a cradle, both ends of which are supported by the first beam member and the second beam member.

An apparatus for use with a robot may couple to or form part of an appendage, for example a wrist. The apparatus can include a base, a first platform, a second platform, a first set of linear actuators that moveably couple the first platform to the base and a second set of linear actuators that moveably couple the second platform to the first platform. The apparatus can take the form of dual prismatic platforms. A controller can provide control signals to operate the linear actuators to cause the first platform to translate and rotate with respect to the base and to cause the second platform to translate and rotate with respect to the first platform. Connectors can couple the base to an appendage and couple an end effector to the second platform.

An apparatus for use with a robot may couple to or form part of an appendage, for example a wrist. The apparatus can include a base, a first platform, a second platform, a first set of linear actuators that moveably couple the first platform to the base and a second set of linear actuators that moveably couple the second platform to the first platform. The apparatus can take the form of dual prismatic platforms. A controller can provide control signals to operate the linear actuators to cause the first platform to translate and rotate with respect to the base and to cause the second platform to translate and rotate with respect to the first platform. Connectors can couple the base to an appendage and couple an end effector to the second platform.

A parallel-type micro robot capable of precise control while minimizing size thereof and a surgical robot system having the same are disclosed. The parallel-type micro robot includes a base plate, a work plate, a main fixing shaft module, a horizontal movement module and at least one angle-controlling module. The base plate includes a base body portion and at least one base connecting portion connected to the base body portion. The work plate includes a work body portion corresponding to the base body portion and at least one work connecting portion connecting to the work body portion to correspond to the base connecting portion. The main fixing shaft module is disposed between the base body portion and the work body portion, and coupled to the work body portion such that the work body portion is rotatable. The horizontal movement module is disposed between the main fixing shaft module and the base body portion, and moves the main fixing shaft module along first and second directions intersecting each other. The angle-controlling module is coupled to the base connecting portion such that the base connecting portion is rotatable, is coupled to the work connecting portion such that the work connecting portion is rotatable, and allows translational motion between the base connecting portion and the work connecting portion. Thus, a size of a robot may be minimized while improving the structural stability and precise control.

A machine tool includes a machine bed, a tool clamping portion which is arranged on the machine bed and serves to clamp a workpiece on the machine tool, a swivel arm receiving portion arranged on the machine bed, a first swivel arm pivotally mounted on the swivel arm receiving portion about a first axis of rotation, a second swivel arm pivotally mounted on the first swivel arm about a second axis of rotation, a spindle carrier arm rotatably mounted on the second swivel arm about a third axis of rotation, a milling head rotatably mounted on the spindle carrier arm about a fourth axis of rotation, and a work spindle which is held on the milling head and serves to receive a tool, wherein the third axis of rotation is aligned perpendicularly or transversely to the fourth axis of rotation.

Uroflowmeters and methods for processing data generated therefrom are disclosed. In one aspect, the uroflowmeter is a handheld device. The uroflowmeter includes a handle, a flow chamber coupled to the handle, and a sensor associated with the flow chamber that detects a parameter of urine received in the flow chamber. The uroflowmeter may include both reusable and disposable components. As a uroflowmeter it can identify and record data corresponding to the rate of flow over the measured duration of a void of urine, but may also timestamp the voiding act and communicate the data to an external data collection center for additional analysis and incorporation into a comprehensive voiding report or voiding diary.

An apparatus comprises a first elongate member configured to detachably and fixedly couple with a work machine in a tow-behind configuration, a two-axis joint member coupled with the first elongate member at a first joint permitting rotation of the two-axis joint member relative to the first elongate member about a first axis of rotation, a rigid frame portion including a second elongate member coupled with the two-axis joint member at a second joint permitting rotation of the second elongate member relative to the two-axis joint member about a second axis of rotation perpendicular to the first axis of rotation and a third elongate member extending perpendicular to the second elongate member, a surface conditioning tool extending parallel to the third elongate member and coupled with the rigid frame portion at a third joint and at a fourth joint permitting rotation of the surface conditioning tool relative to the rigid frame portion about a third axis of rotation parallel to the second axis of rotation, and a variable-length tool coupling member coupled with the rigid frame portion at a fifth joint and coupled with the surface conditioning tool at a sixth joint.

A machining unit for a machine tool and machine tool having such a machining unit comprises a head carrier that is attached to the machine tool, a pivot head held on the head carrier in such a way that the pivot head can be pivoted about a pivot axis, a working spindle, which is arranged on the pivot head and has a spindle axis that is tilted in relation to the pivot axis, a spindle motor, which is arranged in the head carrier and has a drive shaft arranged parallel to the pivot axis, and a drive transmission for transmitting the rotational motion of the drive shaft of the spindle motor to the working spindle, wherein the drive transmission has a transmission stage that can be shifted. The pivot head has a shifting transmission shaft that is oriented coaxially to the pivot axis of the pivot head, wherein the transmission stage that can be shifted has a hollow shaft movably supported on the shifting transmission shaft of the pivot head.

A machining unit for a machine tool and machine tool having such a machining unit comprises a head carrier that is attached to the machine tool, a pivot head held on the head carrier in such a way that the pivot head can be pivoted about a pivot axis, a working spindle, which is arranged on the pivot head and has a spindle axis that is tilted in relation to the pivot axis, a spindle motor, which is arranged in the head carrier and has a drive shaft arranged parallel to the pivot axis, and a drive transmission for transmitting the rotational motion of the drive shaft of the spindle motor to the working spindle, wherein the drive transmission has a transmission stage that can be shifted. The pivot head has a shifting transmission shaft that is oriented coaxially to the pivot axis of the pivot head, wherein the transmission stage that can be shifted has a hollow shaft movably supported on the shifting transmission shaft of the pivot head.