A coordinate positioning arm includes: a base end and a head end; a drive frame for moving the head end relative to the base end; and a metrology frame for measuring a position and orientation of the head end relative to the base end. The drive frame includes a plurality of drive axes arranged in series between the base end and the head end. The metrology frame includes a plurality of metrology axes arranged in series between the base end and the head end. The metrology frame is adapted and arranged to be substantially separate and/or independent from the drive frame, for example by supporting the metrology frame substantially only at the base end and head end and by providing the metrology frame with sufficient degrees of freedom (via the metrology axes) to avoid creating an additional constraint between the metrology frame and the drive frame.

Exemplary substrate processing systems may include a transfer region housing defining a transfer region fluidly coupled with a plurality of processing regions. A sidewall of the transfer region housing may define a sealable access for providing and receiving substrates. The systems may include a transfer apparatus having a central hub including a shaft extending at a distal end through the transfer region housing into the transfer region. The transfer apparatus may include a lateral translation apparatus coupled with an exterior surface of the transfer region housing, and configured to provide at least one direction of lateral movement of the shaft. The systems may also include an end effector coupled with the shaft within the transfer region. The end effector may include a plurality of arms having a number of arms equal to a number of substrate supports of the plurality of substrate supports in the transfer region.

A coating system includes coating robots configured to coat a vehicle, and an operation robot. The operation robot includes a first arm configured to turn around a first axis; a second arm configured to turn around a second axis parallel to the first axis; a third arm configured to turn around a third axis parallel to the first axis; a fourth arm configured to turn around a fourth axis perpendicular to the first axis; a fifth arm configured to turn around a fifth axis parallel to the fourth axis; and a tip jig is supported at the fifth arm and is configured to turn around a sixth axis. The sixth axis is selectively parallel to the fifth axis or perpendicular to a plane which includes the fourth axis and the fifth axis.

A method includes accessing RGB and depth image data representing a scene that includes at least a portion of a robotic limb. Using this data, a computing system may segment the image data to isolate and identify at least a portion of the robotic limb within the scene. The computing system can determine a current pose of the robotic limb within the scene based on the image data, joint data, or a 3D virtual model of the robotic limb. The computing system may then determine a desired goal pose, which may be based on the image data or the 3D virtual model. Based on the determined goal pose, the computing device determines the difference between the current pose and the goal pose of the robotic limb, and using this difference, provides a pose adjustment that for the robotic limb.

A modular apparatus (10) for machining flat sheets, in particular glass, plate glass, or mirror sheets or sheets made from stone materials or the like, comprising machining moduli consisting of a first store (16) suitable for receiving sheets to be machined (25) and a second store (18) suitable for receiving machined sheets (27), a first grinding machine (12), and a second grinding machine (14) suitable for performing grinding machinings along the peripheral edges of said sheets (25), one or more further moduli for machining said flat sheets, if any, of the corner cutting, drill, or washing machine types, possibly associated with said first and second grinding machines (12, 14), and interface means for transferring said flat sheets between said machining moduli.

An electronic device is disclosed, including: a spherical housing, and a first driving device disposed in the spherical housing and configured to cause a rolling motion of the spherical housing, the first driving device including: first and second wheels contacting an inner spherical surface of the spherical housing, the first and second wheels respectively disposed at opposite sides of an axis of rotation, at least one motor configured to transmit power to the at least one of the first wheel and the second wheel, a balance weight, a first surface that is spaced apart from the axis of rotation in a direction of gravity by balancing of the balance weight, and facing the inner spherical surface, and at least one rolling element disposed between the inner spherical surface and the first surface.

An electronic device is disclosed, including: a spherical housing, and a first driving device disposed in the spherical housing and configured to cause a rolling motion of the spherical housing, the first driving device including: first and second wheels contacting an inner spherical surface of the spherical housing, the first and second wheels respectively disposed at opposite sides of an axis of rotation, at least one motor configured to transmit power to the at least one of the first wheel and the second wheel, a balance weight, a first surface that is spaced apart from the axis of rotation in a direction of gravity by balancing of the balance weight, and facing the inner spherical surface, and at least one rolling element disposed between the inner spherical surface and the first surface.

The disclosure describes devices, systems and methods relating to a transfer chamber for an electronic device processing system. For example, a robot can include a first mover configured to be driven by a platform of a linear motor, a support structure disposed on the first mover, a first robot arm attached to the first end of the support structure at a shoulder axis, and a first arm drive assembly. The first drive assembly can include a first pulley attached to a first end of the support structure and to the first robot arm at the shoulder axis, a second pulley attached to a second end of the support structure, a first band connecting the first pulley to the second pulley, and a second mover configured to be driven by the platform of the linear motor, where the second mover is connected to the first band, and where motion of the second mover relative to the first mover causes the first band to a) rotate the first pulley and the second pulley and b) rotate the first robot arm around the shoulder axis. Also disclosed are systems and methods incorporating the robot.

A method including: locating a shaft of a rotor relative to a stator of a motor, locating a robot arm mount on the shaft, temporarily stationarily fixing the robot arm mount relative to the stator at a predetermined rotational location relative to the stator, and while the robot arm mount is temporarily stationarily fixed relative to the stator at the predetermined rotational location, stationarily fixing the robot arm mount to the shaft by a connection, where the connection allows the robot arm mount to be stationarily fixed to the shaft at one of a plurality of angular orientations.

Aspects of the disclosure include a torque sensor arrangement configured to attach between a first part and a second part to sense torque therebetween, the torque sensor arrangement comprising an interface member having on its exterior an engagement configuration configured to rotationally engage the first part, a torsion member comprising a deflectable body attached at one end thereof to the interface member and comprising, at the other end of the deflectable body, an engagement configuration configured to fixedly engage the second part, and a deflection sensor attached to the deflectable body, wherein the interface member defines a rigid sleeve extending around the deflectable body and the torque sensor arrangement further comprises a bushing located between and in contact with both the sleeve and the deflectable body.