A hand device is attached to a robot arm, grips a workpiece extending helically around a helical axis, and includes a base attached to the robot arm and a gripping part that is supported by the base in a rotatable manner around a predetermined rotation axis and that grips the workpiece. The gripping part grips the workpiece on the predetermined rotation axis such that the helical axis of the workpiece substantially extends along the predetermined rotation axis, and rotates in a helical direction of the workpiece in accordance with an external force acting on the workpiece in a tangential direction around the predetermined rotation axis.

An arm module includes a housing with a first connection side controllably rotatable relative to a second connection side, about an axis of rotation. The first connection side has a rotatable first connection device. The second connection side has a second connection device fixed to the housing, with a rotation-compatible data transmission device for transmitting data signals along at least one transmission path between the first and second connection sides. The transmission path includes at least one wireless transmission sub-path for wireless transmission of data signals, and at least one wire-guided transmission sub-path for wire-guided transmission of data signals. The rotation-compatible data transmission device includes at least one first wireless transmission unit and at least one second wireless transmission unit, interconnected via the transmission path and arranged to wirelessly transmit and receive data signals along the wireless transmission sub-path. An industrial robot can have a plurality of such arm modules.

A catching mechanism includes an end effector and a return mechanism coupled to the end effector. The catching mechanism has a defined field of motion that permits the end effector to move in at least one dimension. The return mechanism is configured to return the catching mechanism to a predetermined starting position in which the catching mechanism is not being moved by a force away from the predetermined starting position.

A robot integrated joint unit and a legged robot applying same are related to the technical field of robot joints. The robot integrated joint unit comprises a first electric motor and reducer assembly, a second electric motor assembly, a second reducer assembly, and a first output connecting rod. Two motors of two joints are disposed on a same side of the joints, thus preventing the need for electric motor power cables to run through the joints, effectively alleviating fatigue damage of the electric motor power cables, and extending the service life of the electric motor cables. The electric motor components and the joint connecting rod obviate the need to reserve dedicated cable through holes and a cable placement mechanism, thus allowing enhanced structural reliability; further increasing the degree of integration of a dual joint unit, reducing the axial size of the joint unit, and enhancing structural visual appeal.

Mechanisms to realize lightweight rotational joints having independently adjustable compliance in one or more degrees of freedom are presented herein. In addition, robotic systems incorporating one or more compliant rotational joints as described herein are also presented. In some embodiments, a robotic structure includes a member having adjustable rotational compliance. One or more compliance elements are arranged around a rotational joint. The position of the one or more compliance elements relative to the rotational joint is adjusted to change the overall joint compliance. In some embodiments, the change of position of the one or more compliance elements relative to the rotational joint changes both the induced displacement of the compliance element for a given angular displacement of the rotational joint and the length of the moment arm from the rotational joint to the compliance element.

A rotation mechanism according to the disclosure includes: an output portion for outputting, to a mating member, rotation of a drive source producing a rotational force; a coupling member for coupling the mating member and the output portion by elastic deformation; and an anti-rotation portion for preventing relative rotation between the mating member and the output portion.

In general terms a first aspect of the invention provides a modular robotic arm in which respective joint modules and/or end effector modules can be swapped or exchanged for a replacement module. The modules are interconnected by pairs of interlocking features that can be readily and repeatably interlocked and separated.

An elastic support device according to an embodiment includes: a first member including a first magnet; and a second member including a second magnet, disposed so as to face the first member, and movable relative to the first member in response to receipt of an external force. A magnetic force acting between the first magnet and the second magnet holds the second member in an original position when the second member does not receive an external force, and the magnetic force returns the second member to the original position when the second member is moved due to receipt of an external force.

An elastic support device according to an embodiment includes: a first member including a first magnet; and a second member including a second magnet, disposed so as to face the first member, and movable relative to the first member in response to receipt of an external force. A magnetic force acting between the first magnet and the second magnet holds the second member in an original position when the second member does not receive an external force, and the magnetic force returns the second member to the original position when the second member is moved due to receipt of an external force.

The invention relates to a device (100) for the grinding and/or polishing of planar surfaces, comprising a grinding and/or polishing tool (20), a frame (40), a workpiece (32) or a holder (30) for at least one workpiece, and a means (10) for moving the frame and the workpiece holder (30) with the workpiece, characterized in that the device (100) is set up in such a way that a loose bearing is formed between the workpiece (32) or the workpiece holder (30) and the frame (40), and the means (10) for moving the frame (40) and the workpiece (32) or the workpiece holder (30, 30′) with the at least one workpiece (32) is configured in such a way that the workpiece (32) or the workpiece holder (30) with the at least one workpiece (32) is guided in a plane which is predetermined by the surfaces of the at least one workpiece (32) resting on the grinding and/or polishing tool (20).

The invention also relates to a method for the polishing of planar optics by using the device (100).