9276 results about "Robot hand" patented technology

Devices, systems, and methods for avoiding collisions between a manipulator arm and an outer patient surface by moving the manipulator within a null-space. In response to a determination that distance between an avoidance geometry and obstacle surface, corresponding to a manipulator-to-patient distance is less than desired, the system calculates movement of one or more joints or links of the manipulator within a null-space of the Jacobian to increase this distance. The joints are driven according to the reconfiguration command and calculated movement so as to maintain a desired state of the end effector. In one aspect, the joints are also driven according to a calculated end effector displacing movement within a null-perpendicular-space of the Jacobian to effect a desired movement of the end effector or remote center while concurrently avoiding arm-to-patient collisions by moving the joints within the null-space.

A surgical robot includes a console and a manipulator assembly. The manipulator assembly includes at least one arm having a plurality of links and a motor provided between links adjacent to each other among the plurality of links, and a control unit configured to determine whether a mode is changed between a tele-operation mode and a manual mode. The control unit sets output data of the motor provided before the mode is changed as input data of the motor provided after the mode is changed, if it is determined that the mode is changed between the tele-operation mode and the manual mode, thereby preventing the vibration and the rapid change of the posture from occurring at the arm of the surgical robot during the change of the mode between the manual mode and the tele-operation mode, thereby increasing stability of the surgical robot.

The invention discloses an intelligent early warning and fire extinguishing robot. The intelligent early warning and fire extinguishing robot is formed in the mode that a temperature sensor, a smoke sensor, a flame sensor, a pan-and-tilt camera, a two-freedom-degree mechanical arm, a fire extinguisher and a controller are installed on a wheel type vehicle, the two-freedom-degree mechanical arm is installed on the side of the fire extinguisher in a surrounding mode, and the temperature sensor, the smoke sensor, the flame sensor, the pan-and-tilt camera, the two-freedom-degree mechanical arm are connected with the controller in an electric loop mode. The intelligent early warning and fire extinguishing robot is high in anti-interference ability, good in space applicability, capable of monitoring fire flame videos of a tiny fire source at the beginning of a fire, high in fire early warning accurate and low in false alarm rate.

A robotic hand comprises a base having fingers and a palm. The fingers define a working volume. The hand is able to grasp objects between the fingers and the palm by varying a distance from the palm to the working volume. Varying this distance can be achieved by either moving the palm towards the working volume or by moving the working volume towards the palm. Robotic hands that move the palm comprise an actuator that extends the palm from the base towards the working volume. Robotic hands that move the working volume relative to the palm have the fingers mounted to a common finger support unit that is configured to translate relative to the base.

An articulated finger unit has a two-jointed structure comprising a joint portion on a finger base side, a finger base portion, a joint portion on a fingertip side, and a fingertip portion; the joint portion on the finger base side has a drive-side bevel gear fixed to a rotational output shaft of an actuator, a driven-side bevel gear coaxially fixed to a joint portion that is perpendicular to the rotational output shaft, and a connecting member wherein an annular boss is fixed to the driven-side bevel gear and wherein a tip portion extends in a fork shape; and a cover on the finger base side is connected to the connecting member. A rotation of the rotational output shaft is converted to rotational movement of the joint shaft by way of a pair of bevel gears, and the connecting member fixed to the joint shaft turns right and left at an angle of 90° or more about the joint shaft. The finger unit suitable for use in a robot hand that moves at high speed and with precision can be realized.

The present invention relates to an automatic spring fastener assembly machine, including a rack and a power control box, and the rack is provided with a circulating conveying device, and a rubber casing feeding device, a fastener feeding device and a spring loading device which are in turn arranged around the circulating conveying device. The rubber casing feeding device includes a rubber casing vibration tray disposed to the left front side of the circulating conveying device, and the rubber casing feeding vibration tray is connected with a rubber casing distributing block through the rubber casing conveying track. The upper side of the circulating conveying device is provided with a rubber casing transportation manipulator, and the right front side thereof is provided with a rubber casing clamping device located below the rubber casing transportation manipulator, and a fastener pushing in device fitting the circulating conveying device is disposed under the rubber casing clamping device. In the present invention, material feeding and conveying is done by the circulating conveying device, and fasteners are fitted into corresponding holes on the rubber casings from a higher position with the fastener pushing in device, which can be completed fast and efficiently, is easy to operate, realize quick assembly of spring fasteners and improve working efficiency.

The invention discloses a robot hand-eye calibration method based on laser range finding. According to the method, by calculating the coordinates of laser spots under a laser range finder coordinate system, the coordinates of the laser spots under a robot coordinate system are calculated by means of the mapping relation between the laser range finder coordinate system and the robot coordinate system; by capturing pictures of the laser spots on a calibration board through a camera, the coordinates of the laser spots under a pixel coordinate system are calculated, and therefore the mapping relation between the pixel coordinate system and the robot coordinate system is calculated; the mapping relation between a camera coordinate system and the pixel coordinate system is obtained by means of parameters of the camera; and then the mapping relation between the camera coordinate system and the robot coordinate system is calculated according to the spatial switching relation. The method is carried out by emitting the laser spots to the surface of an object through a laser range finder, coordinate information of measurement points is obtained without the need of making contact with the object, in this way, operating errors are reduced, operation is easier, precision is high, manual participation is not needed in a calibration process, and automation and intellectualization are achieved.

The invention relates to a device for robot-assisted surgery. The device comprises at least one non-sterile manipulator arm having a coupling unit with drive elements. The device further has an instrument unit comprising a surgical instrument, and a sterile unit for coupling the surgical instrument to the drive elements of the coupling unit. The coupling unit comprises a translatory drive element for generating a translatory drive movement, and a rotatory drive element for generating a rotatory drive movement. The sterile unit has a translationally driven element couplable to the translatory drive element and a rotationally driven element couplable to the rotatory drive element. The device has a sterile lock which is capable of being coupled to the coupling unit and to the sterile unit.