A robot system according to an embodiment includes an arm mechanism that is articulated, a parallel link mechanism, an end effector, a detector, and a control device. The parallel link mechanism includes a fixed part mounted to a distal part of the arm mechanism, and a movable part that is mounted to the fixed part via multiple parallel links and is movable with respect to the fixed part. The end effector is mounted to the movable part. The detector is provided for detecting a position or orientation of a control point. The control device controls the arm mechanism and the parallel link mechanism. The control device performs a first operation of setting a posture of the control point to a first posture, and a second operation of setting the posture of the control point to a task posture in which the end effector performs a task.

A robotic system for presenting a payload within a workspace includes a pair of serial robots configured to connect to the payload, a parallel robot coupled to a distal end of one of the serial robots such that the parallel robot is disposed between the distal end and the payload, a sensor situated within a kinematic chain extending between the distal end and the payload, and a robot control system (RCS). The sensor outputs a sensor signal indicative of a measured property of the payload. The RCS includes a coordinated motion controller configured to control the serial robots, and a corrective motion controller configured to control the parallel robot. Parallel robot control occurs in response to the sensor signal concurrently with control of the serial robots in order to thereby modify the property of the payload in real-time.

A 6-axis positioning system includes a base, a movable unit and six variable-length actuators. One end of each actuator is connected to the base, and the other end of each actuator is connected to the movable unit. The six actuators are divided into two groups each having three actuators. The actuators of the first group are arranged on the base within a region bounded by the actuators of the second group, and the actuators of the first group are arranged on the movable unit within a region bounded by the actuators of the second group. The lower end and the upper end of each of the three actuators of the second group are connected to the base and to the movable unit, respectively, by means of respective pivot fastening systems. The upper end of each of the three actuators of the first group is connected to the movable unit by means of a pivot fastening system. The lower end of each of the three actuators of the first group is connected to the base by means of a pivot fastening system that can be pivoted during adjustment operation of the 6-axis positioning system.

A robotic system includes a support structure, a platform, a center serial chain, outer serial chains, motors, a sensor, and a control module. The center serial chain connects a center of the platform to the support structure and includes first joints connected to a linear sliding shaft. The outer serial chains are disposed radially outward of the center serial chain. Each of the outer serial chains includes second joints connecting a bar to the platform and the supporting structure. The motors are connected to the outer serial chains. The sensor is connected to the platform and detects at least one of force or torque applied by a human operator on the platform and generates a signal indicative thereof. The control module controls the motors based on the signal to assist the human operator in at least one of moving or rotating the platform.

A robotic system for presenting a payload within a workspace includes a pair of serial robots configured to connect to the payload, a parallel robot coupled to a distal end of one of the serial robots such that the parallel robot is disposed between the distal end and the payload, a sensor situated within a kinematic chain extending between the distal end and the payload, and a robot control system (RCS). The sensor outputs a sensor signal indicative of a measured property of the payload. The RCS includes a coordinated motion controller configured to control the serial robots, and a corrective motion controller configured to control the parallel robot. Parallel robot control occurs in response to the sensor signal concurrently with control of the serial robots in order to thereby modify the property of the payload in real-time.

A joint structure for connecting a first element and a second element included in a robot includes a Stewart platform that controls a position and/or an angle of the second element relative to the first element. The Stewart platform includes a first member to be joined to the first element, a second member to be joined to the second element, multiple legs connecting the first member and the second member, a driver that changes an effective length of each of the legs to change a position and/or an angle of the second member relative to the first member, and a soft structure that elastically changes the effective length of each of the legs in response to an external force applied to the second member and restores the effective length of each of the legs in response to the external force being removed.

A coordinate positioning machine that includes: a structure moveable within a working volume of the machine, a hexapod metrology arrangement for measuring the position of the structure within the working volume, and a non-hexapod drive arrangement for moving the structure around the working volume. Also, a coordinate positioning machine including a structure moveable within a working volume of the machine, a drive arrangement for moving the structure around the working volume in fewer than six degrees of freedom, and a metrology arrangement for measuring the position of the structure within the working volume in more degrees of freedom than the drive arrangement.

A strut suitable for use in parallel manipulator and other applications utilizes an actuation member that is subjected to a quasi-static axial tensioning force to effectively preload the strut to provide axial stiffness and bending flexibility at one or more ends of the strut.

A parallel mechanism comprises legs with kinematically redundant actuation for a parallel mechanism. Each of these legs comprises a first sub-leg and a second sub-leg, each said sub-leg comprising a proximal end and a distal end. A link has a proximal end and a distal end. A joint with a rotational degree of freedom (DOF) is between and common to the distal ends of each of the first sub-leg and the second sub-leg, and the proximal end of the link. A joint provides at least two rotational DOFs at the distal end of the link and is adapted to connect the distal end of the link to one end of the parallel mechanism. Joints in the first sub-leg and the second sub-leg to provide DOFs to the sub-legs and to connect the proximal ends of the sub-legs to the other end of the parallel mechanism. A degree of actuation (DOA) is provided for each of the first sub-leg and the second sub-leg to control movement of the link. A method for controlling movement of the parallel mechanism is also provided.

Disclosed is a hexapod system including first and second supports and six linear actuators. Each linear actuator has an articulated end on the first and second supports, with a swivel connection with a force-absorbing structure embedded in the first support and a swivel connection to linear actuators articulated on the first support, and one of the first and second supports includes a connector that cooperates with the force-absorbing structure. The connector cooperates with a second force-absorbing structure of a second hexapod system, and the two hexapod systems mount in series.