A transport device in a transport chamber having a reduced pressure atmosphere and including a sidewall extending along an arrangement direction. The transport device includes a first robot fixed at a first robot position in the transport chamber and configured to transfer a substrate to and from a first chamber provided outside the transport chamber, and a second robot fixed at a second robot position in the transport chamber and configured to transfer the substrate to and from a second chamber provided outside the transport chamber on the sidewall. Additionally, the transport device includes a mobile buffer configured to hold the substrate and move along a movement locus extending along the arrangement direction and located between the sidewall and each of the first robot position and the second robot position. The movement locus includes a first position for transferring the substrate to and from the first robot and a second position for transferring the substrate to and from the second robot.

The present invention relates to a class of over-constrained two-rotation parallel mechanism with same kinematics, which comprises a base, a moving platform and four branches connecting the base and the moving platform, wherein the base and the moving platform are equilateral triangles, both ends of each of the first branch, the second branch and the third branch are respectively connected to end points of the base and the moving platform, both ends of the fourth branch are respectively connected to center points of the base and the moving platform, the first branch and the third branch both consist of a first rotating pair. The parallel mechanism of the present invention has a large rotation space and high rigidity, and can be used for positioning equipment such as missile launchers.

A precision tripod motion system is provided. The tripod motion system in one example includes a bottom plate including three spaced-apart bottom single-degree-of-freedom hinges, a top plate including three spaced-apart top three-degrees-of-freedom (TDOF) joints, wherein the top plate is configured to receive a workpiece. Each linear actuator of three linear actuators is coupled to an associated SDOF hinge of the bottom plate and coupled to an associated TDOF joint of the top plate. Each linear actuator is configured to change length over a linear actuation span and configured to return the top plate to a predetermined set position after the top plate is displaced by an external force Each linear actuator includes a ball coupled to the associated three TDOF joint and a positioning actuator configured to move the ball to the predetermined set position prior to the return of the top plate to the predetermined set position.

A powered user interface for a robotic surgical system operates in accordance with a mode of operation in which the actuators are operated to permit motion of the handle in pitch and yaw motion constrained with respect to a virtual fulcrum in a work space of the user interface, and insertion motion is constrained along an axis passing through the virtual fulcrum. In a virtual fulcrum setting mode, a user is prompted to give input to the system selecting a desired point in space for the virtual fulcrum. The selected point in space is then set as the virtual fulcrum

A robot mechanism is provided with a parallel link including a first output base, a first parallel link mechanism disposed on a first side of the first output base, and a second parallel link mechanism and an end effector disposed on a second side of the first output base. The first parallel link mechanism includes a first driver that generates a linear motion output and a second driver that generates a linear motion output. A tilting link mechanism including a mass body that generates a second moment load in a direction to reduce a first moment load exerted on the first parallel link mechanism by the weight of the second parallel link mechanism and the end effector is connected to the first driver and the second driver.

A robotic system includes a support structure, a motor mount assembly, first and second parallel chains, a serial translation assembly, a sensor and a control module. The motor mount assembly includes rotary motors, where the rotary motors include a first rotary motor and a second rotary motor. The first and second parallel chains are connected to the movable platform, the rotary motors and the motor mount assembly. The serial translation assembly is connected to the supporting structure and the motor mount assembly and includes a linear actuator and a third rotary motor. The sensor is connected to the movable platform and detects force applied by a human operator on the movable platform and generates a signal indicative of the force applied. The control module controls the rotary motors and the third rotary motor based on the signal to assist the human operator in moving the movable platform.

Robotic systems can be capable of commanding bar translation. A robotic system can include a robotically controlled first kinematic chain, a robotically controlled second kinematic chain that is movably coupled to the first kinematic chain, and a controller that is communicably coupled to the first kinematic chain and the second kinematic chain. The robotic system can be figured to obtain data corresponding to the first kinematic chain, and control movement of the second kinematic chain in accordance with the data corresponding to the first kinematic chain.

Method and apparatus for automated operations, such as pruning, harvesting, spraying and/or maintenance, on plants, and particularly plants with foliage having features on many length scales or a wide spectrum of length scales, such as female flower buds of the marijuana plant. The invention utilizes a convolutional neural network for image segmentation classification and/or the determination of features. The foliage is imaged stereoscopically to produce a three-dimensional surface image, a first neural network determines regions to be operated on, and a second neural network determines how an operation tool operates on the foliage. For pruning of resinous foliage the cutting tool is heated or cooled to avoid having the resins make the cutting tool inoperable.

A motion data generation system of a robot including an upper body, a waist, and a lower body is provided. The motion data generation system includes a subject motion data acquisition unit that acquires upper body motion data captured from motion of the upper body of a subject and captured waist motion data captured from motion of the waist of the subject, a manually generated motion data acquisition unit that acquires lower body motion data and manually generated waist motion data, the lower body motion data and the manually generated waist motion data being generated through manual input by a user, and a robot motion control unit. The robot motion control unit includes a leg state determination unit and a waist motion data generation unit.

A card positioning device (10) is described, for card treating devices comprising: a supporting element (1) of the card configured for receiving from external supplying means and for keeping a card to be handled; at least two handling means (3, 23) each rotatable connected to the supporting element (1) of the card, the handling means (3, 23) being controlled by a control unit and configured for handling the supporting element (1) to which they are connected in order to arrange the supported card with an inclination useful for its treatment; a card treating device comprising such positioning device is further described.