B25JMANIPULATORSCHAMBERS PROVIDED WITH MANIPULATION DEVICES manipulators specially adapted for use in surgery A61B34/70; manipulators used in cleaning hollow articles B08B9/04 ; manipulators associated with rolling mills B21B39/20; manipulators associated with forging machines B21J13/10; manipulators associated with picking-up and placing mechanisms B23P19/007 ; means for holding wheels or parts thereof B60B30/00; vehicles with ground-engaging propulsion means, e.g. walking members B62D57/02, B62D57/032; devices for picking-up and depositing articles or materials between conveyors B65G47/90, B65G47/91; manipulators with gripping or holding means for transferring packages B65H67/065; cranes B66C; manipulators used in the protection or supervision of pipe-line installations F17D5/00; walking equipment adapted for nuclear steam-generators F22B37/006; manipulators specially adapted for, or associated with, nuclear reactors G21C; apparatus used for handling wafers during manufacture or treatment of semiconductor H01L21/68 In this subclass, the following term is used with the meaning indicated : "manipulator" covers handling tools, devices, or machines having a gripping or work head capable of bodily movement in space and of change of orientation, such bodily movement and change of orientation being controlled, at will, by means remote from the head. The following IPC groups are not in the CPC scheme. The subject matter for these IPC groups is classified in the following CPC groups: B25J9/18 covered by B25J9/16B25J9/22 covered by B25J9/1656, G05B19/42In this subclass non-limiting references (in the sense of paragraph 39 of the Guide to the IPC) may still be displayed in the scheme. B25J1/00 B25J1/00Manipulators positioned in space by hand of master-slave type B25J3/00; micromanipulators B25J7/00 B25J1/02articulated or flexible B25J1/04rigid, e.g. shelf-reachers without grippers A47F13/06 B25J1/06of the lazy-tongs type B25J1/08movably mounted in a wall B25J1/10Sleeve and pivot mountings therefor B25J1/12having means for attachment to a support stand B25J3/00Manipulators of master-slave type, i.e. both controlling unit and controlled unit perform corresponding spatial movements B25J3/02involving a parallelogram coupling of the master and slave units pantographic instruments B43L13/00 B25J3/04involving servo mechanisms servo-actuated heads B25J15/02 B25J5/00Manipulators mounted on wheels or on carriages B25J1/00 takes precedence; programme-controlled manipulators B25J9/00 ; vehicle aspects B60, B62, e.g. remote-controlled steering for motor vehicles B62D1/24; control of position of vehicles G05D1/00 B25J5/002mounted on an air cushion B25J5/005mounted on endless tracks or belts B25J5/007mounted on wheels B25J5/02travelling along a guideway B25J5/04wherein the guideway is also moved, e.g. travelling crane bridge type B25J5/06Manipulators combined with a control cab for the operator B25J7/00Micromanipulators specimen supports for investigating or analysing materials G01N23/2204; associated with microscopes G02B21/32; means for supporting or positioning the objects or the material in discharge tubes H01J37/20 B25J9/00Programme-controlled manipulators B25J9/0003Home robots, i.e. small robots for domestic use B25J9/0006Exoskeletons, i.e. resembling a human figure B25J9/0009Constructional details, e.g. manipulator supports, bases B25J9/0012making use of synthetic construction materials, e.g. plastics, composites B25J9/0015Flexure members, i.e. parts of manipulators having a narrowed section allowing articulation by flexion B25J9/0018Bases fixed on ceiling, i.e. upside down manipulators B25J9/0021All motors in base B25J9/0024Wrist motors at rear part of the upper arm B25J9/0027Means for extending the operation range B25J9/003having parallel kinematics B25J9/0033with kinematics chains having a prismatic joint at the base B25J9/0036with kinematics chains of the type prismatic-rotary-rotary B25J9/0039with kinematics chains of the type prismatic-spherical-spherical B25J9/0042with kinematics chains of the type prismatic-universal-universal B25J9/0045with kinematics chains having a rotary joint at the base B25J9/0048with kinematics chains of the type rotary-rotary-rotary B25J9/0051with kinematics chains of the type rotary-universal-universal or rotary-spherical-spherical, e.g. Delta type manipulators B25J9/0054with kinematics chains having a spherical joint at the base B25J9/0057with kinematics chains of the type spherical-prismatic-spherical B25J9/006with kinematics chains of the type spherical-prismatic-universal B25J9/0063with kinematics chains having an universal joint at the base B25J9/0066with kinematics chains of the type universal-prismatic-spherical B25J9/0069with kinematics chains of the type universal-prismatic-universal B25J9/0072of the hybrid type, i.e. having different kinematics chains B25J9/0075Truss B25J9/0078actuated by cables B25J9/0081with master teach-in means B25J9/0084comprising a plurality of manipulators B25J9/0087Dual arms double SCARA arms B25J9/043 B25J9/009being mechanically linked with one another at their distal ends B25J9/0093co-operating with conveyor means B25J9/0096co-operating with a working support, e.g. work-table B25J9/02characterised by movement of the arms, e.g. cartesian coordinate type B25J9/06 takes precedence B25J9/023Cartesian coordinate type B25J9/026Gantry-type B25J9/04by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type B25J9/041Cylindrical coordinate type B25J9/042comprising an articulated arm B25J9/043double selective compliance articulated robot arms [SCARA] B25J9/044with forearm providing vertical linear movement B25J9/045Polar coordinate type B25J9/046Revolute coordinate type B25J9/047the pivoting axis of the first arm being offset to the vertical axis B25J9/048Pendulum type B25J9/06characterised by multi-articulated arms B25J9/065Snake robots B25J9/08characterised by modular constructions B25J9/10characterised by positioning means for manipulator elements B25J9/1005comprising adjusting means B25J9/101using limit-switches, -stops B25J9/1015using additional, e.g. microadjustment of the end effector B25J9/102Gears specially adapted therefor, e.g. reduction gears gearings in general F16H B25J9/1025Harmonic drives in general: F16H49/001 B25J9/103with backlash-preventing means B25J9/1035Pinion and fixed rack drivers, e.g. for rotating an upper arm support on the robot base B25J9/104with cables, chains or ribbons B25J9/1045comprising tensioning means B25J9/105using eccentric means B25J9/109 takes precedence B25J9/1055by gravity B25J9/106with articulated links B25J9/1065with parallelograms B25J9/107of the froglegs type B25J9/1075with muscles or tendons B25J9/108Bearings specially adapted therefor bearings in general F16C B25J9/1085positioning by means of shape-memory materials shape memory actuators F03G7/06 B25J9/109comprising mechanical programming means, e.g. cams B25J9/1095chemically actuated B25J9/12electric B25J9/123Linear actuators B25J9/126Rotary actuators B25J9/14fluid B25J9/142comprising inflatable bodies B25J9/144Linear actuators B25J9/146Rotary actuators B25J9/148of the oscillating vane-type in general F15B15/12 B25J9/16Programme controls programme controls in general G05B19/00, e.g. numerical pogramme controls G05B19/18; recording or playback systems G05B19/42 B25J9/1602characterised by the control system, structure, architecture B25J9/1605Simulation of manipulator lay-out, design, modelling of manipulator B25J9/1607Calculation of inertia, jacobian matrixes and inverses B25J9/161Hardware, e.g. neural networks, fuzzy logic, interfaces, processor B25J9/1612characterised by the hand, wrist, grip control B25J9/1615characterised by special kind of manipulator, e.g. planar, scara, gantry, cantilever, space, closed chain, passive/active joints and tendon driven manipulators B25J9/1617Cellular, reconfigurable manipulator, e.g. cebot B25J9/162Mobile manipulator, movable base with manipulator arm mounted on it B25J9/1623Parallel manipulator, Stewart platform, links are attached to a common base and to a common platform, plate which is moved parallel to the base B25J9/1625Truss-manipulator for snake-like motion B25J9/1628characterised by the control loop B25J9/163learning, adaptive, model based, rule based expert control B25J9/1633compliant, force, torque control, e.g. combined with position control B25J9/1635flexible-arm control B25J9/1638compensation for arm bending/inertia, pay load weight/inertia B25J9/1641compensation for backlash, friction, compliance, elasticity in the joints B25J9/1643redundant control B25J9/1646variable structure system, sliding mode control B25J9/1648non-linear control combined or not with linear control B25J9/1651acceleration, rate control B25J9/1653parameters identification, estimation, stiffness, accuracy, error analysis B25J9/1656characterised by programming, planning systems for manipulators B25J9/1658characterised by programming language B25J9/1661characterised by task planning, object-oriented languages B25J9/1664characterised by motion, path, trajectory planning B25J9/1666Avoiding collision or forbidden zones B25J9/1669characterised by special application, e.g. multi-arm co-operation, assembly, grasping B25J9/1671characterised by simulation, either to verify existing program or to create and verify new program, CAD/CAM oriented, graphic oriented programming systems B25J9/1674characterised by safety, monitoring, diagnostic B25J9/1676Avoiding collision or forbidden zones B25J9/1679characterised by the tasks executed B25J9/1682Dual arm manipulator; Coordination of several manipulators B25J9/1684Tracking a line or surface by means of sensors B25J9/1687Assembly, peg and hole, palletising, straight line, weaving pattern movement B25J9/1689Teleoperation B25J9/1692Calibration of manipulator B25J9/1694characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion B25J9/1697Vision controlled systems B25J9/20fluidic B25J11/00Manipulators not otherwise provided for B25J11/0005Manipulators having means for high-level communication with users, e.g. speech generator, face recognition means B25J11/001with emotions simulating means B25J11/0015Face robots, animated artificial faces for imitating human expressions B25J11/002Manipulators for defensive or military tasks B25J11/0025handling explosives, bombs or hazardous objects B25J11/003Manipulators for entertainment B25J11/0035Dancing, executing a choreography B25J11/004Playing a music instrument B25J11/0045Manipulators used in the food industry B25J11/005Manipulators for mechanical processing tasks B25J11/0055Cutting B25J11/006Deburring or trimming B25J11/0065Polishing or grinding B25J11/007Riveting B25J11/0075Manipulators for painting or coating B25J11/008Manipulators for service tasks B25J11/0085Cleaning B25J11/009Nursing, e.g. carrying sick persons, pushing wheelchairs, distributing drugs B25J11/0095Manipulators transporting wafers B25J13/00Controls for manipulators programme controls B25J9/16; control in general G05 B25J13/003by means of an audio-responsive input audible safety signals B25J19/061 B25J13/006by means of a wireless system for controlling one or several manipulators B25J13/02Hand grip control means handles or pedals for crane control B66C13/56; for measuring the force applied to control members G01L5/22; hand-held casings for switching devices, e.g. joy-sticks H01H9/0214 B25J13/025comprising haptic means B25J13/04Foot-operated control means B25J13/06Control stands, e.g. consoles, switchboards B25J13/065comprising joy-sticks B25J13/08by means of sensing devices, e.g. viewing or touching devices B25J13/081Touching devices, e.g. pressure-sensitive B25J13/082Grasping-force detectors in general G01L5/16, G01L5/22 B25J13/083fitted with slippage detectors B25J13/084Tactile sensors in general G01L5/16, G01L5/22 B25J13/085Force or torque sensors B25J13/082, B25J13/084 take precedence B25J13/086Proximity sensors B25J13/087for sensing other physical parameters, e.g. electrical or chemical properties B25J13/088with position, velocity or acceleration sensors B25J13/089Determining the position of the robot with reference to its environment B25J15/00Gripping heads and other end effectors grippers used in machine tools B23Q7/04; gripping members fitted on cranes B66C1/42, B66C1/44; gripping means used in the manufacture of semiconductors H01L21/68707; gripping means used for mounting electrical components H05K13/04 B25J15/0004with provision for adjusting the gripped object in the hand B25J15/0009comprising multi-articulated fingers, e.g. resembling a human hand B25J15/0014having fork, comb or plate shaped means for engaging the lower surface on a object to be transported B25J15/0019End effectors other than grippers B25J15/0023Gripper surfaces directly activated by a fluid flexible fingers B25J15/12 B25J15/0028with movable, e.g. pivoting gripping jaw surfaces B25J15/0033with gripping surfaces having special shapes B25J15/0038Cylindrical gripping surfaces B25J15/0042V-shaped gripping surfaces B25J15/0047for internally gripping hollow or recessed objects B25J15/0052multiple gripper units or multiple end effectors B25J15/0057mounted on a turret B25J15/0061mounted on a modular gripping structure B25J15/0066with different types of end effectors, e.g. gripper and welding gun B25J15/0057 and B25J15/0061 take precedence B25J15/0071with needles engaging into objects to be gripped B25J15/0076with means, e.g. Pelletier elements, for freezing a fluid interface between the gripping head and an object to be gripped B25J15/008with sticking, gluing or adhesive means B25J15/0085with means for applying an electrostatic force on the object to be gripped B25J15/009with pins for accurately positioning the object on the gripping head B25J15/0095with an external support, i.e. a support which does not belong to the manipulator or the object to be gripped, e.g. for maintaining the gripping head in an accurate position, guiding it or preventing vibrations B25J15/02servo-actuated B25J15/0206comprising articulated grippers B25J15/0213actuated by gears B25J15/022actuated by articulated links B25J15/0226actuated by cams B25J15/0233actuated by chains, cables or ribbons B25J15/024having fingers directly connected to actuator B25J15/0246actuated by an electromagnet B25J15/0253comprising parallel grippers B25J15/026actuated by gears B25J15/0266actuated by articulated links B25J15/0273comprising linear guide means B25J15/028actuated by cams B25J15/0286actuated by chains, cables or ribbons B25J15/0293having fingers directly connected to actuator B25J15/04with provision for the remote detachment or exchange of the head or parts thereof B25J15/0408Connections means B25J15/0416having balls B25J15/0425having cams B25J15/0433having gripping members B25J15/0441having vacuum or magnetic means B25J15/045having screw means B25J15/0458having a frustroconical member B25J15/0466with means for checking exchange completion B25J15/0475Exchangeable fingers B25J15/0483with head identification means B25J15/0491comprising end-effector racks B25J15/06with vacuum or magnetic holding means B25J15/0608with magnetic holding means B25J15/0616with vacuum B25J15/0625provided with a valve B25J15/0633Air-flow-actuated valves B25J15/0641Object-actuated valves B25J15/065provided with separating means for releasing the gripped object after suction B25J15/0658Pneumatic type, e.g. air blast or overpressure B25J15/0666Other types, e.g. pins or springs B25J15/0675of the ejector type B25J15/0683Details of suction cup structure, e.g. grooves or ridges B25J15/0691Suction pad made out of porous material, e.g. sponge or foam B25J15/08having finger members B25J15/02, B25J15/04 take precedence B25J15/083with means for locking the fingers in an open or closed position B25J15/086with means for synchronizing the movements of the fingers B25J15/10with three or more finger members B25J15/0009 takes precedence B25J15/103for gripping the object in three contact points B25J15/106moving in parallel relationship B25J15/12with flexible finger members B25J17/00Joints B25J17/02Wrist joints B25J17/0208Compliance devices B25J17/0216comprising a stewart mechanism B25J17/0225with axial compliance, i.e. parallel to the longitudinal wrist axis B25J17/0233with radial compliance, i.e. perpendicular to the longitudinal wrist axis B25J17/0241One-dimensional joints B25J17/025mounted in series B25J17/0258Two-dimensional joints B25J17/0266comprising more than two actuating or connecting rods B25J17/0275Universal joints, e.g. Hooke, Cardan, ball joints B25J17/0283Three-dimensional joints B25J17/0291having axes crossing at an oblique angle, i.e. other than 90 degrees B25J18/00Arms B25J18/002comprising beam bending compensation means B25J18/005having a curved shape B25J18/007the end effector rotating around a fixed point B25J18/02extensible B25J18/025telescopic B25J18/04rotatable B25J18/06flexible B25J19/00Accessories fitted to manipulators, e.g. for monitoring, for viewingSafety devices combined with or specially adapted for use in connection with manipulators safety-devices in general F16P; protection against radiation in general G21F B25J19/0004Braking devices brakes in general F16D B25J19/0008Balancing devices B25J19/0012using fluidic devices B25J19/0016using springs B25J19/002using counterweights B25J19/0025Means for supplying energy to the end effector B25J19/0029arranged within the different robot elements B25J19/0033with axial connectors in end effector flange B25J19/0037comprising a light beam pathway, e.g. laser B25J19/0041having rotary connection means B25J19/0045Contactless power transmission, e.g. by magnetic induction B25J19/005using batteries, e.g. as a back-up power source B25J19/0054Cooling means B25J19/0058Means for cleaning manipulators, e.g. dust removing means B25J19/0062Lubrication means B25J19/0066Means or methods for maintaining or repairing manipulators B25J19/007Means or methods for designing or fabricating manipulators B25J19/0075Means for protecting the manipulator from its environment or vice versa B25J19/0079using an internal pressure system B25J19/0083using gaiters B25J19/0087using an antibacterial coating B25J19/0091Shock absorbers in general F16F B25J19/0095Means or methods for testing manipulators B25J19/02Sensing devices B25J19/021Optical sensing devices B25J19/022using lasers B25J19/023including video camera means B25J19/025including optical fibres B25J19/026Acoustical sensing devices B25J19/027Electromagnetic sensing devices B25J19/028Piezoresistive or piezoelectric sensing devices B25J19/04Viewing devices B25J19/06Safety devices B25J19/061with audible signals audio controls B25J13/003 B25J19/063working only upon contact with an outside object B25J19/065Mechanical fuse B25J19/066Redundant equipment B25J19/068Actuating means with variable stiffness B25J21/00Chambers provided with manipulation devices constructional features of the mounting of the manipulator in the wall B25J1/08 ; glove-boxes for nuclear applications G21F7/04 B25J21/005Clean rooms B25J21/02Glove-boxes, i.e. chambers in which manipulations are performed by the human hands in gloves built into the chamber walls glove- boxes for removal of dirt B08B15/026; glove-boxes shielded against radiation G21F7/04Gloves therefor