A robot joint configuration determining method, a robot using the same, and a computer readable storage medium are provided. The method includes: simulating a joint model of a first joint of the robot using first motion deviation data to obtain first result data; simulating the joint model using second motion deviation data to obtain second result data; taking the motion deviation data corresponding to one of the first result data and the second result data meeting one or more preset conditions as a target motion deviation data for the first joint; and determining type information of a reducer in a configuration information of the first joint based on the target motion deviation data. In the present disclosure, the motion deviation of the first joint that is relatively accurate can be obtained through the results of the two simulations.

A light-weight gear including: an annular tooth portion made of metal; a shaft extending along a central axis of the tooth portion and made of metal; and a coupling element configured to couple the shaft to the tooth portion and made of a resin, in which a joining part between the shaft and the coupling element and a joining part between the tooth portion and the coupling element are provided with irregularities configured to be engaged with one another in a circumferential direction, and corners of the irregularities are rounded to release a stress. Also, provided is a manufacturing method of a light-weight gear including: disposing the tooth portion and the shaft in a mold and injecting a molten resin into a cavity of the mold, thereby simultaneously performing injection molding of the coupling element and joining the coupling element to the tooth portion and the shaft.

The present application discloses a robotic control system, and a method and a computer system for controlling a robot. The robotic control system includes a memory and one or more processors coupled to the memory. The memory is configured to store configured to store a model of a robot having a plurality of axes of control including at least a linear axis and one or more rotational axes. The one or more processors are configured to use the model to control the robot to perform a task, including by sending to the robot a set of control signals to cause the robot to move with respect to two or more of said axes of control including at least the linear axis.

A surgical instrument includes a drive housing, a spline, a carriage, an elongate shaft assembly, an end effector, and an activating mechanism. The spline includes a drive gear rotatable via the spline. The shaft assembly extends along a longitudinal axis from the carriage. The shaft assembly includes a wrist disposed between the end effector and a distal end of the shaft assembly. The activating mechanism includes a barrel cam extending along a rotational axis and having a first cam profile radially extending about the rotational axis. The barrel cam is operatively coupled to the drive gear such that rotation of the drive gear is configured to actuate the activating mechanism to move at least a portion of the end effector or the shaft assembly. The first cam profile defines a lock zone configured to selectively lock movement of the portion of the end effector or the shaft assembly.

The present application discloses a robotic control system, and a method and a computer system for controlling a robot. The robotic control system includes a memory and one or more processors coupled to the memory. The memory is configured to store configured to store a model of a robot having a plurality of axes of control including at least a linear axis and one or more rotational axes. The one or more processors are configured to use the model to control the robot to perform a task, including by sending to the robot a set of control signals to cause the robot to move with respect to two or more of said axes of control including at least the linear axis.

A process for monitoring backlash in a gear of a joint of an industrial robot, wherein said joint includes a first joint body and a second joint body coupled together with the possibility of moving with respect to one other, a motor provided with an encoder, and a motion-transmission assembly designed to transmit the torque generated by said motor to said second joint body to bring about a movement of said second joint body with respect to said first joint body, said transmission assembly comprising said gear. The process is characterized in that the signal of the encoder of the motor for driving the joint is used without providing any additional sensor specifically dedicated to monitoring of the backlash.

A robot including a robot mechanism including joints and drive units, a control unit controlling the drive units so that an inspection operation to inspect one target drive unit among the drive units is executed by the robot mechanism, and a notification unit notifying maintenance information of the target drive unit based on a current value of a motor of the target drive unit during the inspection operation, or on information associated with the current value, and the inspection operation includes transmitting, to the motor of the target drive unit, control command to rotate a joint as much as a predetermined rotation angle, and thereby moving a tip of the robot mechanism or a tool at the tip, close to an object at a predetermined position from a predetermined start position, to press the object, and separating the tip of the robot mechanism or the tool away from the object.

A robot including a robot mechanism including joints and drive units, a control unit controlling the drive units so that an inspection operation to inspect one target drive unit among the drive units is executed by the robot mechanism, and a notification unit notifying maintenance information of the target drive unit based on a current value of a motor of the target drive unit during the inspection operation, or on information associated with the current value, and the inspection operation includes transmitting, to the motor of the target drive unit, control command to rotate a joint as much as a predetermined rotation angle, and thereby moving a tip of the robot mechanism or a tool at the tip, close to an object at a predetermined position from a predetermined start position, to press the object, and separating the tip of the robot mechanism or the tool away from the object.

A driving force transmission device includes an input section and an output section with rotation axes nonparallel to each other to avoid backlash. A driving force transmission device (1) includes a first rotator (2), a second rotator (3), and spheres (5A, 5B, 5C). The first rotator (2) performs one of an input operation and an output operation of a driving force and includes a concave surface (7). The second rotator (3) performs the other of the input operation and the output operation of the driving force and includes a convex surface (13) fitted into the concave surface (7). The spheres (5A, 5B, 5C) are between the concave surface (7) and the convex surface (13). The concave surface (7) has holes (32A, 32B, 32C) in which the respective spheres (5A, 5B, 5C) are received. The convex (13) surface has a groove (29, 30) that receives parts of the spheres (5A, 5B, 5C) protruding from the holes (32A, 32B, 32C).

A light-weight gear including: an annular tooth portion made of metal; a shaft extending along a central axis of the tooth portion and made of metal; and a coupling element configured to couple the shaft to the tooth portion and made of a resin, in which a joining part between the shaft and the coupling element and a joining part between the tooth portion and the coupling element are provided with irregularities configured to be engaged with one another in a circumferential direction, and corners of the irregularities are rounded to release a stress. Also, provided is a manufacturing method of a light-weight gear including: disposing the tooth portion and the shaft in a mold and injecting a molten resin into a cavity of the mold, thereby simultaneously performing injection molding of the coupling element and joining the coupling element to the tooth portion and the shaft.