A position correction device according to an embodiment includes a movable part and a pressing part. The movable part is capable of moving a holding part that holds a connection object back and forth in each of a second direction that is orthogonal to a first direction where the holding part is moved therein in order to connect the connection object to a target connector, and a rotational direction where the holding part is rotated therein around an axis along a third direction that is orthogonal to each of the first direction and the second direction as a center. The pressing part presses the movable part that moves in the second direction to move the movable part to a neutral position in the second direction and presses the movable part that moves in the rotational direction to move the movable part to a neutral position in the rotational direction.

An operation device for a surgical manipulator includes an input device that operates the surgical manipulator. The input device includes a plurality of joints and a plurality of motors that drives the plurality of joints, and reduction ratios in power transmission paths from the plurality of motors to the plurality of joints, respectively, are 0.5 or more and 30 or less.

A robot includes an input link, an output link, and a wire routing. The output link is coupled to the input link at an inline twist joint where the output link is configured to rotate about the longitudinal axis of the output link relative to the input link. The wire routing traverses the inline twist joint to couple the input link and the output link. The wire routing includes an input link section, an output link section, and an omega section. A first position of the wire routing coaxially aligns at a start of the omega section on the input link with a second position of the wire routing at an end of the omega section on an output link.

Provided is an industrial robot in which a gear for causing a work tool to rotate can easily be retrofitted to a robot without requiring work to adjust backlash. The present invention comprises: a first wrist element that, at the distal end of a front arm of a robot, is capable of rotating about a first axis following the longitudinal direction of the front arm; a second wrist element that, at the first wrist element, is capable of rotating about a second axis intersecting the first axis in a roughly perpendicular manner; a third wrist element that, at the second wrist element, is capable of rotating about a third axis extending from the intersection point of the first and second axes in a direction roughly perpendicular to the direction in which the second axis extends; a first gear that is attached to the third wrist element coaxially with the third axis and that is capable of rotating about the third axis; a second gear that is driven by rotation of the first gear due to meshing with the first gear and that is capable of rotating; and a case secured to the second wrist element. The second gear is attached to the case via a bearing so as to be capable of rotating about a fourth axis positioned at a prescribed distance relative to the third axis.

A waterjet system in accordance with at least some embodiments includes a carriage, a motion assembly configured to move the carriage horizontally relative to a workpiece, and a cutting head carried by the carriage. The waterjet system can also include a kinematic chain through which the cutting head is operably connected to the carriage. The kinematic chain can include first, second, and third joints rotatably adjustable about different first, second, and third axes, respectively. The carriage and the first and second joints can be configured to move the cutting head along a path relative to the workpiece while the cutting head directs a jet toward the workpiece to form a product. The third joint can be configured to shift a kinematic singularity away from the path to reduce or eliminate delay and corresponding reduced cutting accuracy associated with approaching the kinematic singularity.

Mechanisms or apparatus convert a number of inputs via a number of input members into a number of output movements of an output structure, providing control in three degrees-of-freedom (DOF), for example control over roll, pitch and yaw of the output structure. Inputs may be rotations about a common axis of rotation, for example via a first ring, a second ring, and one or more plates, concentrically array. Rotation of the first ring may control a first DOF, rotation of the first ring may control a second DOF, and rotation of the plate may control all three DOF. Three concentrically arrayed tubular shafts may be employed, providing a through-passage or cable fluid conduit run to accommodate wires, optical fibers, fluid carrying conduits. Such may be particularly advantageous when employed as part of a robot, or other device with a tool or sensor or transducer located at or proximate a distal end thereof.

A robot wrist structure includes a first wrist element that is supported by a forearm in a rotatable manner about a first axis; a second wrist element that is supported by the first wrist element in a rotatable manner about a second axis that is orthogonal to the first axis; and a third wrist element that is supported by the second wrist element in a rotatable manner about a third axis that is orthogonal to the second axis and that is disposed in the same plane as the first axis. Further the second wrist element is provided with, at a position at which the second axis is included, a second axial hollow hole that passes therethrough in a direction along the second axis.

A spherical joint of the present disclosure includes a ball member and a socket having an inner circumferential surface configured to spherically contact the ball member. The socket includes a cage part forming the inner circumferential surface and having an opening, and a bar-shaped connecting part provided to the cage part. A fastening member is disposed at the cage part so as to reduce a space of the opening in the extending direction of the connecting part and such that a gap is formed between the fastening member and the ball member. The opening is formed in a part of the inner circumferential surface other than a part where the largest load is applied.

A coating system includes a plurality of liquid immersion workstations positioned along an arcuate path, the plurality of liquid immersion workstations defining a single complete coating process for a sequence of objects. A plurality of curing workstations are configured to independently receive objects of the sequence of objects exiting the plurality of liquid immersion workstations. An articulated robotic arm has a base positioned inside the arcuate path in top plan view such that the robotic arm is operable to carry each object of the sequence of objects through each of the plurality of liquid immersion workstations and to exactly one of the plurality of curing workstations. An articulated robotic hand is provided at a distal end of the robotic arm and configured to grasp and hold each of the objects and to oscillate the object while submerged in each of the plurality of liquid immersion workstations.

A computing device comprises a memory and a control unit coupled to the memory. The control unit is configured to receive a patient model and identify a plurality of port locations on the patient model for accessing a workspace using a plurality of instruments controlled by a computer-assisted device. For each of the port locations, the control unit determines a collision volume for portions of the computer-assisted device proximal to the port location, a reachability metric, and an anthropomorphic metric. For each combination of the plurality of port locations, the control unit determines a collision metric based on overlaps of the collision volumes for the port locations in the combination, and an aggregate metric for the combination. The control unit is also configured to display one or more of the combinations of the plurality of port locations to a user along with a corresponding aggregate metric.