Flexiv Ltd.

Shanghai Flexiv Robotics Technology Co., Ltd.

Foshan Flexiv Robotics Technology Co, . Ltd.

Flexiv Robotics Inc.

Shiquan Wang

Xuesen Li

Hao Jiang

Ran An

Shuyun Chung

Shuhan Li

Peizhang Zhu

Mengshen Wu

Maozhi Liu

Xiyang Yeh

Yakun Ma

Jinzhao Chang

Kenneth Chao

A robotic arm includes multiple joints and multiple links. The links are connected successively by the joints. At least two of the joints may each comprise a sensor configured to measure force and torque information in multiple DOF of its respective joint. In certain implementations, the sensor may be located between an input part of the respective one of the at least two joints and an output part of the respective one of the at least two joints.

Robotic arm and robot

The present disclosure relates to a kinematics calibration method for a robot with multiple degrees of freedom. The robot includes a base, an end effector, and a plurality of links connected by joints. The method includes locking part of the multiple degrees of freedom by limiting the base and the end effector impose a limitation of degree of freedom; moving the robot to perform a first movement and accordingly obtaining a first set of data associated with joint angles and a first actual motion of the end effector; calculating a first theoretical motion of the end effector based on the first set of data and initial kinematics parameters; and updating the initial kinematics parameters of the robot to obtain a first set of updated kinematics parameters based on the first theoretical motion and the first actual motion.

Kinematics calibration method and calibration system for robot with multiple degrees of freedom

An actuator of a robotic system and a robot are provided. The actuator may include a center shaft, an outer shell connected to the center shaft, an input flange, and an output flange coaxially installed on the center shaft, a torque sensor and a motor assembly. The input flange and the output flange are radially fixed with at least one of the outer shell and the center shaft through a plurality of bearings. The torque sensor is connected between the input flange and the output flange, and configured to measure a torque transmitted by the input flange and the output flange. The motor assembly is coupled to the input flange. Disturbances transmitted from either side of the torque sensor may be isolated from the torque sensor. Therefore, the reliability of the readings of the torque sensor may be improved.

Actuator and robot with reliable torque sensor arrangement

An axial force sensor assembly for detecting an axial force is provided, which includes a mounting bracket and a first sensor assembled on the mounting bracket. The mounting bracket includes an inner mounting portion, an outer mounting portion and a multi-layer connecting member connected between the inner mounting portion and the outer mounting portion. The multi-layer connecting structure is more compliant in a direction of the axial force to be detected than in other loading directions. The first sensor is configured to detect a relative displacement between the inner mounting portion and the outer mounting portion in the direction of the axial force to be detected.

Axial force sensor assembly, robot gripper and robot

A multi-degree of freedom (DOF) force and torque sensor is provided. The multi-DOF force and torque sensor includes a first rigid plate, a second rigid plate, multiple elastic elements connected between the first and second rigid plates, and multiple signal pairs connected between the first and second rigid plates. The signal pairs are used for detecting relative displacements of the first and second rigid plates in multiple directions.

Multi-degree of freedom force and torque sensor and robot

Control cabinet for robot

The present disclosure provides a gripper of a robot and a robot including the same. The gripper may include a case, a plurality of fingers rotatably connected to the case, and a plurality of connecting rods. A first end of each of the connecting rods may be connected to a respective one of the fingers. The gripper may also include a driving assembly connected to a second end of each of the connecting rods, and the driving assembly may be configured to drive the second end of each of the connecting rods to move along a moving direction so as to drive the plurality of finger to rotate. The gripper may further include a force detecting assembly connected to the case and the driving assembly, which may be configured to limit a position of the driving assembly along the moving direction and to detect a force from the driving assembly.

Gripper with high-precision pinching force sensor

Methods and systems for insertion mounting workpieces are provided. In one embodiment, a method is provided that includes acquiring a position of the second fitting part of the receiving component, moving the first fitting part of the workpiece towards the second fitting part of the receiving component until the workpiece is in contact with the receiving component, and rotating the workpiece while pressing the workpiece towards the receiving component. The implementation of the present disclosure may be applied for various types of workpieces and receiving components and may overcome minor deviations of positions between the workpiece and the receiving component during the insertion operation, thereby improving the efficiency of the insertion operation.

Robot-based insertion mounting of workpieces

An axial force sensor, a robot gripper and a robot are provided. The axial force sensor includes a sensing diaphragm and at least two signal pairs. The sensing diaphragm includes an inner ring, an outer ring and a connecting element connected between the inner ring and the outer ring. The connecting element is more compliant in a direction of the axial force to be detected than in other loading directions. Each signal pair includes a signal emitter and a signal receiver. The signal emitter is coupled to one of the inner ring and the outer ring. The signal receiver is coupled to the other of the inner ring and the outer ring.

Axial force sensor, robot gripper, and robot having the same

A grasping mechanism includes a base and at least two linkage grasping assemblies. Each linkage grasping assembly includes a grasping member, a first rod and a second rod. The grasping member includes a grasping portion and a connecting portion. The first rod has a first end rotatably connected to the connecting portion and a second end rotatably connected to the base. The second rod has a first end rotatably connected to the connecting portion and a second end rotatably connected to the base.

Grasping mechanism, robot and grasping device

A multi-axis force and torque sensor and a robot are provided. The sensor includes a first supporting element, a second supporting element, a deformable component connected between the first supporting element and the second supporting element, and multiple signal pairs. The deformable component is configured to deflect in response to applied external force and torque in multiple directions. Each of the multiple signal pairs includes a magnet and a hall effect detector. The magnet is mounted on one of the first supporting element and the second supporting element, and the hall effect detector is mounted on the other. The hall effect detector is located corresponding to the respective magnet. One or more magnetization directions of the magnets of the signal pairs are different such that the signal pairs are capable of measuring force and torque applied on the first supporting element and the second supporting element in different directions.

Multi-axis force and torque sensor and robot having the same

A teaching system for a robot is provided, including a motion bar for controlling the robot and a robot system utilizing the teaching system. In one embodiment, the teaching system is provided including a first controller configured to provide motion-related control functions for controlling motion of the robot. The teaching system may also include a second controller configured to provide control functions other than the motion-related control functions for programming one or more actions of the robot.

Robot training system including a motion bar

The present disclosure discloses a fibrillar, directional adhesive assembly, a gripper, and a robot including a gripper. In one embodiment, the fibrillar, directional adhesive assembly includes a carriage, a layer of fibrillar, directional adhesive, and at least one load component. The carriage may have a first lateral side and a second lateral side adjacent to the first lateral side and the at least one load component may connect the layer of fibrillar, directional adhesive to the first lateral side and the second lateral side. The load component may be capable of loading shear force from the carriage to the layer of fibrillar, directional adhesive along a first direction and a second direction substantially perpendicular to the first direction.

Robot with gripper and fibrillar, directional adhesive assembly

The present disclosure describes a sealing apparatus for a robot and an articulated robot utilizing the sealing apparatus. In one embodiment, the sealing apparatus includes a first enclosure and a second enclosure. The second enclosure may be rotatably connected to the first enclosure such that the first enclosure and the second enclosure cooperatively define a gap between the first enclosure and the second enclosure. The sealing apparatus may further include a seal disposed in the gap such that the seal and the second enclosure cooperatively define a chamber. The sealing apparatus also includes an elastomer disposed in the chamber. The elastomer may be compressed by the seal and the second enclosure to generate an elastic force that presses the seal against the first enclosure.

Growing community of inventors

Foster City, CA, United States of America

Shiquan Wang