1. A robot arm system, comprising:
a support base;
a first robot arm rotatably connected to the support base;
a first driving mechanism driving the first robot arm to rotate around a first rotation axis relative to the support base;
a second robot arm rotatably connected to the first robot arm;
a second driving mechanism driving the second robot arm to rotate around a second rotation axis relative to the first robot arm;
a wrist assembly connected to the second robot arm;
a first wheel positioned on the support base;
a second wheel positioned on the second robot arm;
a third wheel positioned on the wrist assembly and rotatably connected to the second robot arm;
a first flexible belt connecting the first wheel with the second wheel; and
a second flexible belt connecting the third wheel with the second wheel, wherein the first wheel, the second wheel, and the third wheel have a substantially same radius.
2. The robot arm system of claim 1, further comprising a first pre-tighten assembly pressing against the first flexible belt.
3. The robot arm system of claim 2, wherein the first pre-tighten assembly comprises a pressure wheel pressing on the first flexible belt and a support pole connecting with the pressure wheel.
4. The robot arm system of claim 2, further comprising a second pre-tighten assembly pressing against the second flexible belt.
5. The robot arm system of claim 1, wherein the first driving mechanism comprises a first motor, a first worm, and a first worm gear, the first motor is positioned on the support base and drives the first worm to rotate, and the first worm meshes with the first worm gear, thereby driving the first robot arm to rotate around the first rotation axis.
6. The robot arm system of claim 5, wherein the first worm gear forms a first torque adjusting portion to offset a load torque effect of the robot arm system.
7. The robot arm system of claim 1, wherein the second driving mechanism comprises a second motor, a second worm, a second worm gear, a belt transmission assembly, the second motor is positioned on the support base and drives the second worm to rotate, the second worm meshes with the second worm gear, and the belt transmission assembly connects the second worm gear to the second worm, thereby driving the second robot arm to rotate around the second rotation axis.
8. The robot arm system of claim 7, wherein the second worm gear forms a first torque adjusting portion to offset a load torque effect of the robot arm system.
9. The robot arm system of claim 1, wherein the first wheel is positioned on the support base via an amounting base, the second wheel is positioned on a first end of the second robot arm, and the third wheel is positioned on the wrist assembly, and is rotatably connected to a second end of the second robot arm.
10. The robot arm system of claim 1, further comprising a bottom base rotatably connected to the support base.
11. The robot arm system of claim 10, further comprising a third driving mechanism driving the support base to rotate around a third rotation axis relative to the bottom base, wherein the third driving mechanism comprises a third motor, a first gear, and a second gear, the first gear is meshed with the second gear, and the third motor drives the first gear to rotate.
12. The robot arm system of claim 7, wherein the first flexible belt and the second flexible belt are synchronous belts, steel ropes, or flat belts.
13. The robot arm system of claim 1, wherein a central axis of the first wheel is aligned with the first rotation axis in a straight line, and a central axis of the second wheel is aligned with the second rotation axis in a straight line.
14. A robot arm system, comprising:
a support base;
a first robot arm rotatably connected to the support base;
a first driving mechanism driving the first robot arm to rotate around a first rotation axis relative to the support base;
a second robot arm rotatably connected to the first robot arm;
a second driving mechanism driving the second robot arm to rotate around a second rotation axis relative to the first robot arm; and
a wrist assembly connected to the second robot arm;
wherein the first driving mechanism comprises a first motor, a first worm, and a first worm gear, the first motor is positioned on the support base and drives the first worm to rotate, the first worm meshes with the first worm gear, thereby driving the first robot arm to rotate around the first rotation axis.
15. The robot arm system of claim 14, wherein the first worm gear forms a first torque adjusting portion to offset a load torque effect of the robot arm system.
16. The robot arm system of claim 14, wherein the second driving mechanism comprises a second motor, a second worm, a second worm gear, a belt transmission assembly, the second motor is positioned on the support base and drives the second worm to rotate, the second worm meshes with the second worm gear, and the belt transmission assembly connects the second worm gear to the second worm, thereby driving the second robot arm to rotate around the second rotation axis.
17. The robot arm system of claim 16, wherein the second worm gear forms a first torque adjusting portion, used to offset the effect of a load torque of the robot arm system.
18. The robot arm system of claim 14, further comprising a bottom base rotatably connected to the support base.
19. The robot arm system of claim 18, further comprising a third driving mechanism driving the support base to rotate around a third rotation axis relative to the bottom base, the third driving mechanism comprises a third motor, a first gear, and a second gear, the first gear is meshed with the second gear, and the third motor drives the first gear to rotate.
The claims below are in addition to those above.
All refrences to claim(s) which appear below refer to the numbering after this setence.
1. A computer system securely transmitting and verifying a two-party agreement, said system comprising:
a first device, operated by the first party, developing and transmitting a first view of the two-party agreement based upon first device respective non-transmitted and transmitted transaction time dependent and device dependent parameters, the first view including an encrypted part based upon the first device non-transmitted time dependent and device dependent parameters and an unencrypted plaintext part including the first device transmitted transaction time dependent and device dependent parameters,
wherein the first device encrypts the encrypted part of the first view using a first device encryption key according to a deterministic algorithm based on a non-stored Private Identification Entry (PIE) input to the first device and a deterministic algorithm based on the first device non-transmitted transaction time dependent and device dependent parameters:
a second device, operated by the second party, developing and transmitting a second view of the two-party agreement, the second view including an encrypted part encrypted by a second device encryption key and an unencrypted plaintext part including second device transmitted transaction time dependent and device dependent parameters: and
a third device comprising a verification party
receiving the first view and the second view,
generating the first device encryption key based upon the first device transmitted transaction time dependent and device dependent parameters and information known by the third device about the first device PIE and the first device non-transmitted time dependent and device dependent parameters,
generating the second device encryption key based upon the second device transmitted transaction time dependent and device dependent parameters,
decrypting the encrypted part of the first and second views, based upon the respective first and second device encryption keys,
comparing the first view with the second view, and
transmitting a signal based on the comparing,
wherein the first device PIE and the first and second device encryption keys are not communicated among the first, second and third devices.
2. The computer system as in 1, wherein either the first device transmits the first view to the third device and the second device independently transmits the second view to the third device, or the first device transmits the first view to the second device and the second device concatenates the first view and the second view and transmits the concatenated view to the third device.
3. The computer system as in claim 2, wherein the third device transmits a response to the first device and the second device either if the third device determines that the decrypted part of the first view matches the decrypted part of the second view for the agreement or if the third device determines that the decrypted part of the first view does not match the decrypted part of the second view for the agreement.
4. The computer system as in claim 3, wherein the plaintext part of the view of the first device includes a device identification of the first device and a transaction timestamp at the first device as the first device transmitted transaction time dependent and device dependent parameters, and the encrypted part includes data corresponding to an agreement and a device identification of the second device as the second device transmitted device dependent parameter.
5. The computer system as in claim 4, wherein the plaintext portion optionally includes a transaction ID and the encrypted portion optionally includes one or more of the transaction ID, a message digest, the transaction timestamp, a user ID of a user of the first device and padding data.
6. The computer system as in claim 3, wherein the response from the third device to the first device comprises a plaintext part and an encrypted part, wherein the plaintext part of the response includes the first device transmitted device dependent parameter and a third device transaction timestamp and optionally includes a transaction ID, and the encrypted part includes data corresponding to a response to the agreement and optionally includes one or more of the first device transmitted device dependent parameter, the second device transmitted device dependent parameter, the transaction ID, a message digest, the transaction timestamp, a user ID of a user of the first device and padding data.
7. The computer system of claim 6, in which the encrypted part of the response of the third device to the first device is encrypted using a third device encryption key and a cryptographic algorithm in which the third device encryption key is not communicated either between the first device and the second device or the first device and the third device.
8. The computer system of claim 7 in which the third device encryption key used by the third device to encrypt the encrypted portion of the response to the first device is generated according to a deterministic algorithm based on the first device PIE and the third device non-transmitted transaction time dependent parameter.
9. The computer system of claim 8 in which each of the third device and the first device comprises a known pseudo-random number generator, a known hash function and a known transformation function and deterministically produce the first device encryption key by:
the pseudo-random number generator receives as input a seed and a base timestamp, as the information known by the first device and the third device about the first device non-transmitted time dependent and device dependent parameters and receiving as input the transmitted first device transaction timestamp and device dependent parameters, and producing as output a random number;
the transformation function taking as input said random number and the information known by the third device about the first device PIE or the non-stored PIE input to the first device and producing as output a number; and
the hash function taking as input said number and produces as output the first device encryption key.
10. The computer system as in claim 3, wherein the plaintext part of the view of the second device includes a device identification of the second device and a transaction timestamp at the second device as the second device transmitted transaction time dependent and device dependent parameters, and the encrypted part includes data corresponding to an agreement, and a device identification of the first device as the first device transmitted device dependent parameter of the first device.
11. The computer system as in claim 10, wherein the plaintext portion optionally includes a transaction ID and the encrypted portion optionally includes one or more of the transaction ID, a message digest, the transaction timestamp, a user ID of a user of the second device and padding data.
12. The computer system as in claim 3, wherein the response from the third device to the second device comprises a plaintext part and an encrypted part, wherein the plaintext part of the response includes the second device transmitted device dependent parameter and a third device transaction timestamp and optionally includes a transaction ID, and the encrypted part includes data corresponding to a response to the agreement and optionally includes one or more of the second device transmitted device dependent parameter, the first device transmitted device dependent parameter, the transaction ID, a message digest, the transaction timestamp, a user ID of a user of the second device and padding data.
13. The computer system of claim 12, in which the encrypted part of the response of the third device to the second device is encrypted using a third device encryption key and a cryptographic algorithm in which the third device encryption key is not communicated either between the first device and the second device or the second device and the third device.
14. The computer system of claim 13 in which the third device encryption key used by the third device to encrypt the encrypted part of the response is generated according to a deterministic algorithm based on the second device PIE and the third device non-transmitted transaction time dependent parameter.
15. The computer system of claim 14 in which each of the third device and the second device comprises a known pseudo-random number generator, a known hash function and a known transformation function and deterministically produce the second device encryption key by:
the pseudo-random number generator receiving as input a seed and a base timestamp, as information known by the second device and the third device about the second device non-transmitted time dependent and device dependent parameters and receiving as input the transmitted second device transaction timestamp and device dependent parameters and producing as output a random number;
the transformation function taking as input said random number and information known by the third device about the second device PIE or the non-stored second device PIE and producing as output a number; and
the hash function taking as input said number and producing as output the second device encryption key.
16. The computer system of claim 1 in which each of the first device and the third device comprises a known pseudo-random number generator, a known hash function and a known transformation function to deterministically produce, by the first device, the first device encryption key and to deterministically produce, by the third device, the first device encryption key by:
the pseudo-random number generator receiving as input a seed and a base timestamp, as the information known by the first device and the third device about the first device non-transmitted time dependent and device dependent parameters and receiving as input the transmitted first device transaction timestamp and device dependent parameters, and producing as output a random number;
the transformation function taking as input said random number and the information known by the third device about the first device PIE or the non-stored PIE input to the first device and producing as output a number; and
the hash function taking as input said number and producing as output the first device encryption key.
17. The computer system of claim 1 in which the second encryption key used by the second device to encrypt the view is generated according to a deterministic algorithm based on a non-stored Private Identification Entry (PIE) input to the second device and second device non-transmitted transaction time dependent and device dependent parameters, wherein the second device PIE is known only to the user of the second device and is not stored on the second device and is also known to the third device that receives the encrypted view developed by the second device.
18. The computer system of claim 17 in which each of the second device and the third device comprises a known pseudo-random number generator, a known hash function and a known transformation function and deterministically produce the second device encryption key by:
the pseudo-random number generator receiving as input a seed and a base timestamp, as information known by the second device and the third device about the second device non-transmitted time dependent and device dependent parameters and receiving as input the transmitted second device transaction timestamp and device dependent parameters and producing as output a random number;
the transformation function taking as input said random number and information known by the third device about the second device PIE or the non-stored second device PIE and producing as output a number; and
the hash function taking as input said number and producing as output the second device encryption key.
19. A computer system securely transmitting and verifying a multi-party agreement among N parties where N is larger than or equal to two, said computer system comprising:
a collection of N devices, each device operated by a party to the agreement, developing and transmitting its view of the multi-party agreement based upon non-transmitted and transmitted transaction time dependent and device dependent parameters, each view including an encrypted part based upon the device non-transmitted time dependent and device dependent parameters and an unencrypted plaintext part including the device transmitted transaction time dependent and device dependent parameters,
wherein each device encrypts the encrypted part of its view using a device encryption key according to a deterministic algorithm based on a respective non-stored Private Identification Entry (PIE) input to each device and the device non-transmitted transaction time dependent and device dependent parameters: and
an N+1-st device comprising a verification party receiving the views from the N agreement parties,
generating the device encryption keys of the N agreement parties based upon the device transmitted transaction time dependent and device dependent parameters and information known by the N+1-st device about the PIE and the device non-transmitted time dependent and device dependent parameters,
decrypting the encrypted part of each view based upon the device encryption keys,
comparing the views from the N agreement parties, and
transmitting a response signal based on the comparing,
wherein the PIE and the device encryption keys are not communicated among the N agreement.
20. The computer system as in 19, wherein either each of the N devices independently transmits its view to the N+1-st device comprising the verification party, or, each of the N devices concatenates its view to a list of views until all N views are collected so that each view appears once in the list and the list is then transmitted to the N+1-st device.
21. The computer system as in claim 20, wherein the N+1-st device transmits a response to each of the N devices in the multi-party agreement either if it decides that the decrypted part of all N views from the N devices in the multi-party agreement match each other for the purposes of the agreement or if it decides that the decrypted part of all N views from the N devices in the multi-party agreement do not match each other for the purposes of the agreement.
22. The computer system as in claim 21, wherein the plaintext part of the view of a device includes a device identification and a transaction timestamp at each device as the device transmitted transaction time dependent and device dependent parameters, and the encrypted part includes data corresponding to a multi-party agreement and a device identification for each of other devices in the multi-party agreement as the device transmitted device dependent parameter of the other devices.
23. The computer system as in claim 22, wherein the plaintext portion of a view from a device optionally includes a transaction ID, a number of parties in the agreement and the encrypted portion optionally includes one or more of the transaction ID, the number of parties in the agreement, a message digest, the transaction timestamp, a user ID of a user of the device and padding data.
24. The computer system as in claim 20, wherein the response from the N+1-st device to a device in the multi-party agreement comprises of a plaintext part and an encrypted part, wherein the plaintext part of the response includes the device identification of the device as the device transmitted device dependent parameter and a N+1-st device transaction timestamp and optionally includes a transaction ID, and the encrypted part includes data corresponding to a response to the agreement and optionally includes one or more of a device identification of the andor device identification of the other devices of the parties in the agreement as the device transmitted device dependent parameters, the transaction ID, the number of parties in the agreement, a message digest, the transaction timestamp, the user ID of the user of the device and padding data.
25. The computer system of claim 24, in which the encrypted part of the response of the N+1-st device to a device in the multi-party agreement is encrypted using a N+1-st device encryption key and a cryptographic algorithm in which the N+1-st device encryption key is not communicated among the devices and the N+1-st device.
26. The computer system of claim 25 in which the encryption key used by the N+1-st device to encrypt the response to a device in the multi-party agreement is generated according to a deterministic algorithm based on the PIE and the device non-transmitted transaction time dependent parameter.
27. The computer system of claim 26 in which a device in the multi-party agreement and the N+1-st device comprises a known pseudo-random number generator, a known hash function and a known transformation function and deterministically produce the identical of the N+1-st device encryption keys by:
the pseudo-random number generator receiving as input a seed and a base timestamp, as the information known by each device and the N+1-st device about the device non-transmitted time dependent and device dependent parameters and receiving as input the transmitted device transaction timestamp and device dependent parameters, and producing as output a random number;
the transformation function taking as input said random number and the information known by the N+1-st device about the PIE or the non-stored PIE input to the device and producing as output a number; and
the hash function taking as input said number and producing as output the N+1-st device encryption key.
28. The computer system of claim 19, in which a device in the multi-party agreement and the N+1-st device comprises a known pseudo-random number generator, a known hash function and a known transformation function and deterministically produce the identical of the device encryption keys by:
the pseudo-random number generator receiving as input a seed and a base timestamp, as the information known by each device and the N+1-st device about the device non-transmitted time dependent and device dependent parameters and receiving as input the transmitted device transaction timestamp and device dependent parameters, and producing as output a random number;
the transformation function taking as input said random number and the information known by the N+1-st device about the PIE or the non-stored PIE input to the device and producing as output a number; and
the hash function taking as input said number and producing as output the device encryption key.
29. A method of securely transmitting and verifying a two-party agreement in a computer system, said method comprising:
developing and transmitting, by a first device operated by a first party, a first view of the two-part agreement based upon first device respective non-transmitted and transmitted transaction time dependent and device dependent parameters, the first view including an encrypted part based upon the first device non-transmitted time dependent and device dependent parameters and an unencrypted plaintext part including the first device transmitted transaction time dependent and device dependent parameters,
wherein the encrypted part is encrypted using a first device encryption key according to a deterministic algorithm based on a non-stored Private Identification Entry (PIE) input to the first device and the first device non-transmitted transaction time dependent and device dependent parameters:
developing and transmitting, by a second device operated by a second party, a second view of the two-party agreement, the second view including an encrypted part encrypted by a second device encryption key and an unencrypted plaintext part including second device transmitted transaction time dependent and device dependent parameters; and
receiving, by a third device comprising a verification party, the first view and the second view, generating the first device encryption key based upon the first device transmitted transaction time dependent and device dependent parameters and information known by the third device about the PIE and the first device non-transmitted time dependent and device dependent parameters, generating the second device encryption key based upon the second device transmitted transaction time dependent and device dependent parameters, decrypting the encrypted part of the first and second views, based upon the respective first and second device encryption keys, comparing the first view with the second view transmitting a signal based on the comparing,
wherein the PIE and the first and second device encryption keys are not communicated among the first, second and third devices.
30. A method securely transmitting and verifying a multi-party agreement among N parties where N is larger than or equal to two, in a computer system, said method comprising:
developing and transmitting, by a collection of N devices each device operated by a party to the agreement, its view of the multi-party agreement based upon non-transmitted and transmitted transaction time dependent and device dependent parameters, each view including an encrypted part based upon the device non-transmitted time dependent and device dependent parameters and an unencrypted plaintext part including the device transmitted transaction time dependent and device dependent parameters,
wherein the encrypted part is encrypted using a device encryption key according to a deterministic algorithm based upon a respective non-stored Private Identification Entry (PIE) input to each device and the device non-transmitted transaction time dependent and device dependent parameters: and
receiving, by an N+1-st device comprising a verification party, the views from the N agreement parties, generating the respective device encryption keys of the N agreement parties based upon the device transmitted transaction time dependent and device dependent parameters and information known by the N+1-st device about the PIE and the device non-transmitted time dependent and device dependent parameters, decrypting the encrypted part of each view based upon the device encryption keys, comparing the views from the N agreement parties and transmitting a response signal based on the comparing,
wherein the PIE and the device encryption keys are not communicated among the N agreement parties.
31. A computer readable storage controlling a computer to securely transmit and verify a two-party agreement, by the functions comprising:
developing and transmitting, by a first device operated by the first party, a first view of the two-party agreement based upon first device respective non-transmitted and transmitted transaction time dependent and device dependent parameters, the first view including an encrypted part based upon the first device non-transmitted time dependent and device dependent parameters and an unencrypted plaintext part including the first device transmitted transaction time dependent and device dependent parameters,
wherein the encrypted part is encrypted using a first device encryption key according to a deterministic algorithm based on a non-stored Private Identification Entry (PIE) input to the first device and the first device non-transmitted transaction time dependent and device dependent parameters;
developing and transmitting, by a second device operated by the second party, a second view of the two-party agreement, the second view including an encrypted part encrypted by a second device encryption key and an unencrypted plaintext part including second device transmitted transaction time dependent and device dependent parameters; and
receiving, by a third device comprising a verification party, the first view and the second view, generating the first device encryption key based upon the first device transmitted transaction time dependent and device dependent parameters and information known by the third device about the PIE and the first device non-transmitted time dependent and device dependent parameters, generating the second device encryption key based upon the second device transmitted transaction time dependent and device dependent parameters, decrypting the encrypted part of the first and second views, based upon the respective first and second device encryption keys, comparing the first view with the second view and transmitting a signal based on the comparing,
wherein the PIE and the first and second device encryption keys are not communicated among the first, second and third devices.
32. A computer readable storage controlling a computer to securely transmit and verify a multi-party agreement among N parties where N is larger than or equal to two, by the functions comprising:
developing and transmitting, by a collection of N devices each device operated by a party to the agreement, its view of the multi-party agreement based upon non-transmitted and transmitted transaction time dependent and device dependent parameters, each view including an encrypted part based upon the device non-transmitted time dependent and device dependent parameters and an unencrypted plaintext part including the device transmitted transaction time dependent and device dependent parameters,
wherein the encrypted part is encrypted using a first device encryption key according to a deterministic algorithm based on a respective non-stored Private Identification Entry (PIE) input to each device and the first device non-transmitted transaction time dependent and device dependent parameters: and
receiving, by an N+1-st device comprising a verification party, the views from the N agreement parties, generating the respective device encryption keys of the N agreement parties based upon the transmitted device transaction time dependent and device dependent parameters and information known by the N+1-st device about the PIE and the device non-transmitted time dependent and device dependent parameters, decrypting the encrypted part of each view based upon the device encryption keys, comparing the views from the N agreement parties and transmitting a response signal based on the comparing,
wherein the PIE and the device encryption keys are not communicated among the N agreement parties.