A robot arm comprising a plurality of limbs articulated relative to each other, the robot arm extending from a base to a distal limb carrying a tool or an attachment point for a tool, the distal limb being attached by a revolute joint to a second limb, and the robot arm comprising a motor having a body and a drive shaft configured to drive rotation of the distal limb relative to the second limb about the revolute joint, wherein the body of the motor is fast with the distal limb.

An element changer includes a plurality of operation pin members (4) inserted in a housing (3). Each of the operation pin members (4) has a wedge surface (12c). When the operation pin members (4) are pushed into the housing (3), each wedge surface (12c) is disengaged from an engaging portion (10a) provided at a leading end portion of a tubular wall portion (10) of a tool plate (2) or of a connection plate (1). This allows a tool (5) functioning as a second element to be detached from a robot arm (8) functioning as a first element.

An end effector is removably connected to a robot arm under sterile conditions with an arm mount module configured to be permanently connected to the robot arm, and an arm drape module configured to be removably connected to the arm mount module by a first locking mechanism. A third module, which is a passive end effector, may be configured to be removably connected to the arm drape module by a second locking mechanism. In some embodiments, a sterile hand drape module is configured to be removably connected to the arm drape module by the second locking mechanism; and a hand mount module is configured to be removably connected to the hand drape module by a third locking mechanism, and to be permanently connected to the end effector or the hand mount module is the end effector itself.
The systems for connecting an end effector to a robot arm provide a signal or energy transmission pathway between the robot arm and the end effector. The transmitted energy can be electrical or mechanical.

In an embodiment, a method includes determining a given material to manipulate to achieve a goal state. The goal state can be one or more deformable or granular materials in a particular arrangement. The method further includes, for the given material, determining, a respective outcome for each of a plurality of candidate actions to manipulate the given material. The determining can be performed with a physics-based model, in one embodiment. The method further can include determining a given action of the candidate actions, where the outcome of the given action reaching the goal state is within at least one tolerance. The method further includes, based on a selected action of the given actions, generating a first motion plan for the selected action.

A robot configured to use a gripper to grasp one or more tools is disclosed. In various embodiments, the robot comprises a robotic arm having a gripper disposed at a free moving end of the robotic arm, and a set of two or more tools configured to grasped or otherwise engaged by the gripper. Each tool in the set of two or more tools may be disposed in a corresponding tool holder, optionally attached to the robot or situated near the robot. The robot is configured to use the gripper to retrieve a selected tool from its tool holder to perform a task; use the tool to perform the task; and return the tool to its tool holder.

A subsea manipulator for a remotely operated underwater vehicle (ROV) that includes at least one linear, oil-filled electric actuator to control a motion of the manipulator in a subsea environment is disclosed. The remotely operated underwater manipulator includes an electric actuator for each axis of motion of the manipulator, and an end effector that includes a rotational joint and a tool motor for controlling a tool affixed to the end effector. A method for changing the tool of the manipulator in a subsea environment is disclosed.

The present invention includes a link mechanism including a movable member, a first coupling shaft, a first coupling member, a second coupling shaft, a second coupling member, and a third coupling shaft. When the movable member moves to a predetermined engagement position, a straight line connecting the first coupling shaft and the second coupling shaft to each other in a plane orthogonal the first coupling shaft and the second coupling shaft and a straight line connecting the second coupling shaft and the third coupling shaft to each other in a plane orthogonal the second coupling shaft and the third coupling shaft are orthogonal to each other.

A linkage assembly to connect a tool to a robotic device. The linkage assembly includes a body and a first linkage pair with first and second links that are configured to be connected to a first section of the tool. The linkage assembly also includes a second linkage pair that includes first and second links that are configured to be connected to a second section of the tool. The first linkage pair are powered to provide a force to move the tool relative to the body. The second linkage pair supports the tool and moves with the first linkage pair. Each of the first and second linkage pairs are pivotally connected to the body and may maintain parallel positioning during the movement.

A robot hand includes a motor with a rotary shaft, an accommodating member accommodating a distal end of the rotary shaft, a plurality of swing members swinging with respect to the accommodating member due to rotation of the rotary shaft, and a plurality of claw members swinging with the plurality of swing members.

A tool exchange device includes a first coupling member attached to one of a body side of an apparatus and a tool side and having a first coupling surface, and a second coupling member attached to the other of the body side and the tool side and having a second coupling surface capable of being in contact with the first coupling surface, in which the first coupling member includes, on the first coupling surface, a first pin, a second pin, and an auxiliary projection, the second coupling member includes, on the second coupling surface, a first hole, a second hole, and an auxiliary hole, a first gap is provided each between the first pin and the first hole and between the second pin and the second hole, a second gap is provided between the auxiliary projection and the auxiliary hole, and the second gap is larger than the first gap.