B25J1/00	7	Manipulators positioned in space by hand (of leader-follower type B25J3/00; micromanipulators B25J7/00)	B25J1/00	B25J1/00		389
B25J1/02	8	articulated or flexible	B25J1/02	B25J1/02		260
B25J1/04	8	rigid, e.g. shelf-reachers {(without grippers A47F13/06)}	B25J1/04	B25J1/04		836
B25J1/06	8	of the lazy-tongs type	B25J1/06	B25J1/06		53
B25J1/08	8	movably mounted in a wall	B25J1/08	B25J1/08		86
B25J1/10	9	Sleeve and pivot mountings therefor	B25J1/10	B25J1/10		34
B25J1/12	8	having means for attachment to a support stand	B25J1/12	B25J1/12		66
B25J3/00	7	Manipulators of leader-follower type, i.e. both controlling unit and controlled unit perform corresponding spatial movements	B25J3/00	B25J3/00		768
B25J3/02	8	involving a parallelogram coupling of the leader and follower units (pantographic instruments B43L13/00)	B25J3/02	B25J3/02		60
B25J3/04	8	involving servo mechanisms (servo-actuated heads B25J15/02)	B25J3/04	B25J3/04		524
B25J5/00	7	Manipulators 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})	B25J5/00	B25J5/00		3647
B25J5/002	8	{mounted on an air cushion}	B25J5/00	B25J5/00		20
B25J5/005	8	{mounted on endless tracks or belts}	B25J5/00	B25J5/00		1967
B25J5/007	8	{mounted on wheels}	B25J5/00	B25J5/00		10115
B25J5/02	8	travelling along a guideway	B25J5/02	B25J5/02		3956
B25J5/04	9	wherein the guideway is also moved, e.g. travelling crane bridge type	B25J5/04	B25J5/04		520
B25J5/06	8	Manipulators combined with a control cab for the operator	B25J5/06	B25J5/06		90
B25J7/00	7	Micromanipulators {(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)}	B25J7/00	B25J7/00		842
B25J9/00	7	Program-controlled manipulators	B25J9/00	B25J9/00		3740
B25J9/0003	8	{Home robots, i.e. small robots for domestic use}	B25J9/00	B25J9/00		821
B25J9/0006	8	{Exoskeletons, i.e. resembling a human figure}	B25J9/00	B25J9/00		5053
B25J9/0009	8	{Constructional details, e.g. manipulator supports, bases}	B25J9/00	B25J9/00		6136
B25J9/0012	9	{making use of synthetic construction materials, e.g. plastics, composites}	B25J9/00	B25J9/00		316
B25J9/0015	9	{Flexure members, i.e. parts of manipulators having a narrowed section allowing articulation by flexion}	B25J9/00	B25J9/00		342
B25J9/0018	9	{Bases fixed on ceiling, i.e. upside down manipulators}	B25J9/00	B25J9/00		377
B25J9/0021	9	{All motors in base}	B25J9/00	B25J9/00		124
B25J9/0024	9	{Wrist motors at rear part of the upper arm}	B25J9/00	B25J9/00		54
B25J9/0027	9	{Means for extending the operation range}	B25J9/00	B25J9/00		132
B25J9/003	8	{having parallel kinematics}	B25J9/00	B25J9/00		1102
B25J9/0033	9	{with kinematics chains having a prismatic joint at the base}	B25J9/00	B25J9/00		157
B25J9/0036	10	{with kinematics chains of the type prismatic-rotary-rotary}	B25J9/00	B25J9/00		87
B25J9/0039	10	{with kinematics chains of the type prismatic-spherical-spherical}	B25J9/00	B25J9/00		55
B25J9/0042	10	{with kinematics chains of the type prismatic-universal-universal}	B25J9/00	B25J9/00		65
B25J9/0045	9	{with kinematics chains having a rotary joint at the base}	B25J9/00	B25J9/00		349
B25J9/0048	10	{with kinematics chains of the type rotary-rotary-rotary}	B25J9/00	B25J9/00		305
B25J9/0051	10	{with kinematics chains of the type rotary-universal-universal or rotary-spherical-spherical, e.g. Delta type manipulators}	B25J9/00	B25J9/00		392
B25J9/0054	9	{with kinematics chains having a spherical joint at the base}	B25J9/00	B25J9/00		90
B25J9/0057	10	{with kinematics chains of the type spherical-prismatic-spherical}	B25J9/00	B25J9/00		135
B25J9/006	10	{with kinematics chains of the type spherical-prismatic-universal}	B25J9/00	B25J9/00		34
B25J9/0063	9	{with kinematics chains having an universal joint at the base}	B25J9/00	B25J9/00		57
B25J9/0066	10	{with kinematics chains of the type universal-prismatic-spherical}	B25J9/00	B25J9/00		51
B25J9/0069	10	{with kinematics chains of the type universal-prismatic-universal}	B25J9/00	B25J9/00		96
B25J9/0072	9	{of the hybrid type, i.e. having different kinematics chains}	B25J9/00	B25J9/00		681
B25J9/0075	9	{Truss}	B25J9/00	B25J9/00		199
B25J9/0078	9	{actuated by cables}	B25J9/00	B25J9/00		259
B25J9/0081	8	{with leader teach-in means}	B25J9/00	B25J9/00		1414
B25J9/0084	8	{comprising a plurality of manipulators}	B25J9/00	B25J9/00		1758
B25J9/0087	9	{Dual arms (double SCARA arms B25J9/043)}	B25J9/00	B25J9/00		1077
B25J9/009	9	{being mechanically linked with one another at their distal ends}	B25J9/00	B25J9/00		142
B25J9/0093	8	{co-operating with conveyor means}	B25J9/00	B25J9/00		1616
B25J9/0096	8	{co-operating with a working support, e.g. work-table}	B25J9/00	B25J9/00		851
B25J9/02	8	characterised by movement of the arms, e.g. cartesian coordinate type (B25J9/06 takes precedence)	B25J9/02	B25J9/02		1092
B25J9/023	9	{Cartesian coordinate type}	B25J9/02	B25J9/02		1308
B25J9/026	10	{Gantry-type}	B25J9/02	B25J9/02		880
B25J9/04	9	by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type	B25J9/04	B25J9/04		1761
B25J9/041	10	{Cylindrical coordinate type}	B25J9/04	B25J9/04		482
B25J9/042	11	{comprising an articulated arm}	B25J9/04	B25J9/04		1640
B25J9/043	12	{double selective compliance articulated robot arms [SCARA]}	B25J9/04	B25J9/04		243
B25J9/044	12	{with forearm providing vertical linear movement}	B25J9/04	B25J9/04		272
B25J9/045	10	{Polar coordinate type}	B25J9/04	B25J9/04		173
B25J9/046	10	{Revolute coordinate type}	B25J9/04	B25J9/04		1270
B25J9/047	11	{the pivoting axis of the first arm being offset to the vertical axis}	B25J9/04	B25J9/04		418
B25J9/048	10	{Pendulum type}	B25J9/04	B25J9/04		129
B25J9/06	8	characterised by multi-articulated arms	B25J9/06	B25J9/06		2323
B25J9/065	9	{Snake robots}	B25J9/06	B25J9/06		716
B25J9/08	8	characterised by modular constructions	B25J9/08	B25J9/08		3212
B25J9/10	8	characterised by positioning means for manipulator elements	B25J9/10	B25J9/10		2730
B25J9/1005	9	{comprising adjusting means}	B25J9/10	B25J9/10		416
B25J9/101	10	{using limit-switches, -stops}	B25J9/10	B25J9/10		469
B25J9/1015	10	{using additional, e.g. microadjustment of the end effector}	B25J9/10	B25J9/10		199
B25J9/102	9	{Gears specially adapted therefor, e.g. reduction gears (gearings in general F16H)}	B25J9/10	B25J9/10		3129
B25J9/1025	10	{Harmonic drives (in general: F16H49/001)}	B25J9/10	B25J9/10		456
B25J9/103	10	{with backlash-preventing means}	B25J9/10	B25J9/10		177
B25J9/1035	10	{Pinion and fixed rack drivers, e.g. for rotating an upper arm support on the robot base}	B25J9/10	B25J9/10		470
B25J9/104	9	{with cables, chains or ribbons}	B25J9/10	B25J9/10		3280
B25J9/1045	10	{comprising tensioning means}	B25J9/10	B25J9/10		621
B25J9/105	9	{using eccentric means (B25J9/109 takes precedence)}	B25J9/10	B25J9/10		63
B25J9/1055	9	{by gravity}	B25J9/10	B25J9/10		27
B25J9/106	9	{with articulated links}	B25J9/10	B25J9/10		1364
B25J9/1065	10	{with parallelograms}	B25J9/10	B25J9/10		684
B25J9/107	11	{of the froglegs type}	B25J9/10	B25J9/10		246
B25J9/1075	9	{with muscles or tendons}	B25J9/10	B25J9/10		733
B25J9/108	9	{Bearings specially adapted therefor (bearings in general F16C)}	B25J9/10	B25J9/10		331
B25J9/1085	9	{positioning by means of shape-memory materials (shape memory actuators F03G7/06)}	B25J9/10	B25J9/10		291
B25J9/109	9	{comprising mechanical programming means, e.g. cams}	B25J9/10	B25J9/10		621
B25J9/1095	9	{chemically actuated}	B25J9/10	B25J9/10		58
B25J9/12	9	electric	B25J9/12	B25J9/12		2684
B25J9/123	10	{Linear actuators}	B25J9/12	B25J9/12		977
B25J9/126	10	{Rotary actuators}	B25J9/12	B25J9/12		3003
B25J9/14	9	fluid	B25J9/14	B25J9/14		1241
B25J9/142	10	{comprising inflatable bodies}	B25J9/14	B25J9/14		668
B25J9/144	10	{Linear actuators}	B25J9/14	B25J9/14		841
B25J9/146	10	{Rotary actuators}	B25J9/14	B25J9/14		323
B25J9/148	11	{of the oscillating vane-type (in general F15B15/12)}	B25J9/14	B25J9/14		97
B25J9/16	8	Program controls (total factory control, i.e. centrally controlling a plurality of machines, G05B19/418)	B25J9/16	B25J9/16		7942
B25J9/1602	9	{characterised by the control system, structure, architecture}	B25J9/16	B25J9/16		7668
B25J9/1605	10	{Simulation of manipulator lay-out, design, modelling of manipulator}	B25J9/16	B25J9/16		1774
B25J9/1607	10	{Calculation of inertia, jacobian matrixes and inverses}	B25J9/16	B25J9/16		833
B25J9/161	10	{Hardware, e.g. neural networks, fuzzy logic, interfaces, processor}	B25J9/16	B25J9/16		8218
B25J9/1612	9	{characterised by the hand, wrist, grip control}	B25J9/16	B25J9/16		3158
B25J9/1615	9	{characterised by special kind of manipulator, e.g. planar, scara, gantry, cantilever, space, closed chain, passive/active joints and tendon driven manipulators}	B25J9/16	B25J9/16		649
B25J9/1617	10	{Cellular, reconfigurable manipulator, e.g. cebot}	B25J9/16	B25J9/16		196
B25J9/162	10	{Mobile manipulator, movable base with manipulator arm mounted on it}	B25J9/16	B25J9/16		1297
B25J9/1623	10	{Parallel manipulator, Stewart platform, links are attached to a common base and to a common platform, plate which is moved parallel to the base}	B25J9/16	B25J9/16		304
B25J9/1625	10	{Truss-manipulator for snake-like motion}	B25J9/16	B25J9/16		120
B25J9/1628	9	{characterised by the control loop}	B25J9/16	B25J9/16		1726
B25J9/163	10	{learning, adaptive, model based, rule based expert control}	B25J9/16	B25J9/16		6096
B25J9/1633	10	{compliant, force, torque control, e.g. combined with position control}	B25J9/16	B25J9/16		2898
B25J9/1635	10	{flexible-arm control}	B25J9/16	B25J9/16		218
B25J9/1638	10	{compensation for arm bending/inertia, pay load weight/inertia}	B25J9/16	B25J9/16		544
B25J9/1641	10	{compensation for backlash, friction, compliance, elasticity in the joints}	B25J9/16	B25J9/16		395
B25J9/1643	10	{redundant control}	B25J9/16	B25J9/16		253
B25J9/1646	10	{variable structure system, sliding mode control}	B25J9/16	B25J9/16		66
B25J9/1648	10	{non-linear control combined or not with linear control}	B25J9/16	B25J9/16		52
B25J9/1651	10	{acceleration, rate control}	B25J9/16	B25J9/16		781
B25J9/1653	10	{parameters identification, estimation, stiffness, accuracy, error analysis}	B25J9/16	B25J9/16		1856
B25J9/1656	9	{characterised by programming, planning systems for manipulators}	B25J9/16	B25J9/16		1834
B25J9/1658	10	{characterised by programming language}	B25J9/16	B25J9/16		296
B25J9/1661	10	{characterised by task planning, object-oriented languages}	B25J9/16	B25J9/16		3564
B25J9/1664	10	{characterised by motion, path, trajectory planning}	B25J9/16	B25J9/16		15610
B25J9/1666	11	{Avoiding collision or forbidden zones}	B25J9/16	B25J9/16		3450
B25J9/1669	10	{characterised by special application, e.g. multi-arm co-operation, assembly, grasping}	B25J9/16	B25J9/16		1390
B25J9/1671	10	{characterised by simulation, either to verify existing program or to create and verify new program, CAD/CAM oriented, graphic oriented programming systems}	B25J9/16	B25J9/16		1657
B25J9/1674	9	{characterised by safety, monitoring, diagnostic}	B25J9/16	B25J9/16		3022
B25J9/1676	10	{Avoiding collision or forbidden zones}	B25J9/16	B25J9/16		2813
B25J9/1679	9	{characterised by the tasks executed}	B25J9/16	B25J9/16		7735
B25J9/1682	10	{Dual arm manipulator; Coordination of several manipulators}	B25J9/16	B25J9/16		2537
B25J9/1684	10	{Tracking a line or surface by means of sensors}	B25J9/16	B25J9/16		802
B25J9/1687	10	{Assembly, peg and hole, palletising, straight line, weaving pattern movement}	B25J9/16	B25J9/16		2126
B25J9/1689	10	{Teleoperation}	B25J9/16	B25J9/16		2821
B25J9/1692	10	{Calibration of manipulator}	B25J9/16	B25J9/16		3180
B25J9/1694	9	{characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion}	B25J9/16	B25J9/16		4197
B25J9/1697	10	{Vision controlled systems}	B25J9/16	B25J9/16		12210
B25J9/20	9	fluidic	B25J9/20	B25J9/20		96
B25J11/00	7	Manipulators not otherwise provided for	B25J11/00	B25J11/00		20357
B25J11/0005	8	{Manipulators having means for high-level communication with users, e.g. speech generator, face recognition means}	B25J11/00	B25J11/00		2082
B25J11/001	9	{with emotions simulating means}	B25J11/00	B25J11/00		346
B25J11/0015	9	{Face robots, animated artificial faces for imitating human expressions}	B25J11/00	B25J11/00		337
B25J11/002	8	{Manipulators for defensive or military tasks}	B25J11/00	B25J11/00		319
B25J11/0025	9	{handling explosives, bombs or hazardous objects}	B25J11/00	B25J11/00		291
B25J11/003	8	{Manipulators for entertainment}	B25J11/00	B25J11/00		471
B25J11/0035	9	{Dancing, executing a choreography}	B25J11/00	B25J11/00		115
B25J11/004	9	{Playing a music instrument}	B25J11/00	B25J11/00		98
B25J11/0045	8	{Manipulators used in the food industry}	B25J11/00	B25J11/00		934
B25J11/005	8	{Manipulators for mechanical processing tasks}	B25J11/00	B25J11/00		2990
B25J11/0055	9	{Cutting}	B25J11/00	B25J11/00		812
B25J11/006	9	{Deburring or trimming}	B25J11/00	B25J11/00		168
B25J11/0065	9	{Polishing or grinding}	B25J11/00	B25J11/00		1785
B25J11/007	9	{Riveting}	B25J11/00	B25J11/00		91
B25J11/0075	8	{Manipulators for painting or coating}	B25J11/00	B25J11/00		2193
B25J11/008	8	{Manipulators for service tasks}	B25J11/00	B25J11/00		4253
B25J11/0085	9	{Cleaning}	B25J11/00	B25J11/00		3109
B25J11/009	9	{Nursing, e.g. carrying sick persons, pushing wheelchairs, distributing drugs}	B25J11/00	B25J11/00		883
B25J11/0095	8	{Manipulators transporting wafers}	B25J11/00	B25J11/00		1586
B25J13/00	7	Controls for manipulators (programme controls B25J9/16)	B25J13/00	B25J13/00		4023
B25J13/003	8	{by means of an audio-responsive input (audible safety signals B25J19/061)}	B25J13/00	B25J13/00		804
B25J13/006	8	{by means of a wireless system for controlling one or several manipulators}	B25J13/00	B25J13/00		2106
B25J13/02	8	Hand 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)}	B25J13/02	B25J13/02		997
B25J13/025	9	{comprising haptic means}	B25J13/02	B25J13/02		344
B25J13/04	8	Foot-operated control means	B25J13/04	B25J13/04		92
B25J13/06	8	Control stands, e.g. consoles, switchboards	B25J13/06	B25J13/06		1297
B25J13/065	9	{comprising joy-sticks}	B25J13/06	B25J13/06		197
B25J13/08	8	by means of sensing devices, e.g. viewing or touching devices	B25J13/08	B25J13/08		5792
B25J13/081	9	{Touching devices, e.g. pressure-sensitive}	B25J13/08	B25J13/08		628
B25J13/082	10	{Grasping-force detectors (in general G01L5/16, G01L5/22)}	B25J13/08	B25J13/08		470
B25J13/083	11	{fitted with slippage detectors}	B25J13/08	B25J13/08		97
B25J13/084	10	{Tactile sensors (in general G01L5/16, G01L5/22)}	B25J13/08	B25J13/08		704
B25J13/085	9	{Force or torque sensors (B25J13/082, B25J13/084 take precedence)}	B25J13/08	B25J13/08		2532
B25J13/086	9	{Proximity sensors}	B25J13/08	B25J13/08		502
B25J13/087	9	{for sensing other physical parameters, e.g. electrical or chemical properties}	B25J13/08	B25J13/08		997
B25J13/088	9	{with position, velocity or acceleration sensors}	B25J13/08	B25J13/08		2060
B25J13/089	10	{Determining the position of the robot with reference to its environment}	B25J13/08	B25J13/08		1111
B25J15/00	7	Gripping heads {and other end effectors (grippers used in machine tools B23Q7/04; gripping members fitted on cranes B66C1/42, B66C1/44; gripping means used for mounting electrical components H05K13/04; gripping means used in the manufacture of semiconductors H10P72/7602)}	B25J15/00	B25J15/00		5147
B25J15/0004	8	{with provision for adjusting the gripped object in the hand}	B25J15/00	B25J15/00		372
B25J15/0009	8	{comprising multi-articulated fingers, e.g. resembling a human hand}	B25J15/00	B25J15/00		2540
B25J15/0014	8	{having fork, comb or plate shaped means for engaging the lower surface on a object to be transported}	B25J15/00	B25J15/00		957
B25J15/0019	8	{End effectors other than grippers}	B25J15/00	B25J15/00		2320
B25J15/0023	8	{Gripper surfaces directly activated by a fluid (flexible fingers B25J15/12)}	B25J15/00	B25J15/00		919
B25J15/0028	8	{with movable, e.g. pivoting gripping jaw surfaces}	B25J15/00	B25J15/00		1098
B25J15/0033	8	{with gripping surfaces having special shapes}	B25J15/00	B25J15/00		934
B25J15/0038	9	{Cylindrical gripping surfaces}	B25J15/00	B25J15/00		391
B25J15/0042	9	{V-shaped gripping surfaces}	B25J15/00	B25J15/00		105
B25J15/0047	8	{for internally gripping hollow or recessed objects}	B25J15/00	B25J15/00		353
B25J15/0052	8	{multiple gripper units or multiple end effectors}	B25J15/00	B25J15/00		2360
B25J15/0057	9	{mounted on a turret}	B25J15/00	B25J15/00		208
B25J15/0061	9	{mounted on a modular gripping structure}	B25J15/00	B25J15/00		728
B25J15/0066	9	{with different types of end effectors, e.g. gripper and welding gun (B25J15/0057 and B25J15/0061 take precedence)}	B25J15/00	B25J15/00		730
B25J15/0071	8	{with needles engaging into objects to be gripped}	B25J15/00	B25J15/00		151
B25J15/0076	8	{with means, e.g. Pelletier elements, for freezing a fluid interface between the gripping head and an object to be gripped}	B25J15/00	B25J15/00		20
B25J15/008	8	{with sticking, gluing or adhesive means}	B25J15/00	B25J15/00		167
B25J15/0085	8	{with means for applying an electrostatic force on the object to be gripped}	B25J15/00	B25J15/00		147
B25J15/009	8	{with pins for accurately positioning the object on the gripping head}	B25J15/00	B25J15/00		183
B25J15/0095	8	{with 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}	B25J15/00	B25J15/00		223
B25J15/02	8	servo-actuated	B25J15/02	B25J15/02		1480
B25J15/0206	9	{comprising articulated grippers}	B25J15/02	B25J15/02		1687
B25J15/0213	10	{actuated by gears}	B25J15/02	B25J15/02		756
B25J15/022	10	{actuated by articulated links}	B25J15/02	B25J15/02		657
B25J15/0226	10	{actuated by cams}	B25J15/02	B25J15/02		227
B25J15/0233	10	{actuated by chains, cables or ribbons}	B25J15/02	B25J15/02		279
B25J15/024	10	{having fingers directly connected to actuator}	B25J15/02	B25J15/02		174
B25J15/0246	9	{actuated by an electromagnet}	B25J15/02	B25J15/02		230
B25J15/0253	9	{comprising parallel grippers}	B25J15/02	B25J15/02		1908
B25J15/026	10	{actuated by gears}	B25J15/02	B25J15/02		629
B25J15/0266	10	{actuated by articulated links}	B25J15/02	B25J15/02		318
B25J15/0273	11	{comprising linear guide means}	B25J15/02	B25J15/02		127
B25J15/028	10	{actuated by cams}	B25J15/02	B25J15/02		207
B25J15/0286	10	{actuated by chains, cables or ribbons}	B25J15/02	B25J15/02		106
B25J15/0293	10	{having fingers directly connected to actuator}	B25J15/02	B25J15/02		240
B25J15/04	8	with provision for the remote detachment or exchange of the head or parts thereof	B25J15/04	B25J15/04		1203
B25J15/0408	9	{Connections means}	B25J15/04	B25J15/04		711
B25J15/0416	10	{having balls}	B25J15/04	B25J15/04		122
B25J15/0425	10	{having cams}	B25J15/04	B25J15/04		57
B25J15/0433	10	{having gripping members}	B25J15/04	B25J15/04		112
B25J15/0441	10	{having vacuum or magnetic means}	B25J15/04	B25J15/04		169
B25J15/045	10	{having screw means}	B25J15/04	B25J15/04		62
B25J15/0458	10	{having a frustroconical member}	B25J15/04	B25J15/04		21
B25J15/0466	9	{with means for checking exchange completion}	B25J15/04	B25J15/04		52
B25J15/0475	9	{Exchangeable fingers}	B25J15/04	B25J15/04		294
B25J15/0483	9	{with head identification means}	B25J15/04	B25J15/04		59
B25J15/0491	9	{comprising end-effector racks}	B25J15/04	B25J15/04		429
B25J15/06	8	with vacuum or magnetic holding means	B25J15/06	B25J15/06		876
B25J15/0608	9	{with magnetic holding means}	B25J15/06	B25J15/06		1146
B25J15/0616	9	{with vacuum}	B25J15/06	B25J15/06		5247
B25J15/0625	10	{provided with a valve}	B25J15/06	B25J15/06		318
B25J15/0633	11	{Air-flow-actuated valves}	B25J15/06	B25J15/06		235
B25J15/0641	11	{Object-actuated valves}	B25J15/06	B25J15/06		39
B25J15/065	10	{provided with separating means for releasing the gripped object after suction}	B25J15/06	B25J15/06		151
B25J15/0658	11	{Pneumatic type, e.g. air blast or overpressure}	B25J15/06	B25J15/06		141
B25J15/0666	11	{Other types, e.g. pins or springs}	B25J15/06	B25J15/06		47
B25J15/0675	10	{of the ejector type}	B25J15/06	B25J15/06		95
B25J15/0683	10	{Details of suction cup structure, e.g. grooves or ridges}	B25J15/06	B25J15/06		1276
B25J15/0691	10	{Suction pad made out of porous material, e.g. sponge or foam}	B25J15/06	B25J15/06		126
B25J15/08	8	having finger members (B25J15/02, B25J15/04 take precedence)	B25J15/08	B25J15/08		6404
B25J15/083	9	{with means for locking the fingers in an open or closed position}	B25J15/08	B25J15/08		145
B25J15/086	9	{with means for synchronizing the movements of the fingers}	B25J15/08	B25J15/08		195
B25J15/10	9	with three or more finger members {(B25J15/0009 takes precedence)}	B25J15/10	B25J15/10		2680
B25J15/103	10	{for gripping the object in three contact points}	B25J15/10	B25J15/10		352
B25J15/106	10	{moving in parallel relationship}	B25J15/10	B25J15/10		159
B25J15/12	9	with flexible finger members	B25J15/12	B25J15/12		1311
B25J17/00	7	Joints	B25J17/00	B25J17/00		3951
B25J17/02	8	Wrist joints	B25J17/02	B25J17/02		1825
B25J17/0208	9	{Compliance devices}	B25J17/02	B25J17/02		732
B25J17/0216	10	{comprising a stewart mechanism}	B25J17/02	B25J17/02		159
B25J17/0225	10	{with axial compliance, i.e. parallel to the longitudinal wrist axis}	B25J17/02	B25J17/02		80
B25J17/0233	10	{with radial compliance, i.e. perpendicular to the longitudinal wrist axis}	B25J17/02	B25J17/02		72
B25J17/0241	9	{One-dimensional joints}	B25J17/02	B25J17/02		523
B25J17/025	10	{mounted in series}	B25J17/02	B25J17/02		237
B25J17/0258	9	{Two-dimensional joints}	B25J17/02	B25J17/02		1077
B25J17/0266	10	{comprising more than two actuating or connecting rods}	B25J17/02	B25J17/02		933
B25J17/0275	10	{Universal joints, e.g. Hooke, Cardan, ball joints}	B25J17/02	B25J17/02		453
B25J17/0283	9	{Three-dimensional joints}	B25J17/02	B25J17/02		603
B25J17/0291	10	{having axes crossing at an oblique angle, i.e. other than 90 degrees}	B25J17/02	B25J17/02		85
B25J18/00	7	Arms	B25J18/00	B25J18/00		5161
B25J18/002	8	{comprising beam bending compensation means}	B25J18/00	B25J18/00		77
B25J18/005	8	{having a curved shape}	B25J18/00	B25J18/00		149
B25J18/007	8	{the end effector rotating around a fixed point}	B25J18/00	B25J18/00		232
B25J18/02	8	extensible	B25J18/02	B25J18/02		618
B25J18/025	9	{telescopic}	B25J18/02	B25J18/02		1519
B25J18/04	9	rotatable	B25J18/04	B25J18/04		960
B25J18/06	8	flexible	B25J18/06	B25J18/06		728
B25J19/00	7	Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators (safety-devices in general F16P; protection against radiation in general G21F)	B25J19/00	B25J19/00		11461
B25J19/0004	8	{Braking devices (brakes in general F16D)}	B25J19/00	B25J19/00		824
B25J19/0008	8	{Balancing devices}	B25J19/00	B25J19/00		583
B25J19/0012	9	{using fluidic devices}	B25J19/00	B25J19/00		228
B25J19/0016	9	{using springs}	B25J19/00	B25J19/00		396
B25J19/002	9	{using counterweights}	B25J19/00	B25J19/00		508
B25J19/0025	8	{Means for supplying energy to the end effector}	B25J19/00	B25J19/00		1166
B25J19/0029	9	{arranged within the different robot elements}	B25J19/00	B25J19/00		905
B25J19/0033	10	{with axial connectors in end effector flange}	B25J19/00	B25J19/00		93
B25J19/0037	10	{comprising a light beam pathway, e.g. laser}	B25J19/00	B25J19/00		107
B25J19/0041	10	{having rotary connection means}	B25J19/00	B25J19/00		128
B25J19/0045	9	{Contactless power transmission, e.g. by magnetic induction}	B25J19/00	B25J19/00		112
B25J19/005	8	{using batteries, e.g. as a back-up power source}	B25J19/00	B25J19/00		1312
B25J19/0054	8	{Cooling means}	B25J19/00	B25J19/00		969
B25J19/0058	8	{Means for cleaning manipulators, e.g. dust removing means}	B25J19/00	B25J19/00		818
B25J19/0062	8	{Lubrication means}	B25J19/00	B25J19/00		471
B25J19/0066	8	{Means or methods for maintaining or repairing manipulators}	B25J19/00	B25J19/00		388
B25J19/007	8	{Means or methods for designing or fabricating manipulators}	B25J19/00	B25J19/00		828
B25J19/0075	8	{Means for protecting the manipulator from its environment or vice versa}	B25J19/00	B25J19/00		1493
B25J19/0079	9	{using an internal pressure system}	B25J19/00	B25J19/00		133
B25J19/0083	9	{using gaiters}	B25J19/00	B25J19/00		383
B25J19/0087	9	{using an antibacterial coating}	B25J19/00	B25J19/00		11
B25J19/0091	8	{Shock absorbers (in general F16F)}	B25J19/00	B25J19/00		1574
B25J19/0095	8	{Means or methods for testing manipulators}	B25J19/00	B25J19/00		2184
B25J19/02	8	Sensing devices	B25J19/02	B25J19/02		6879
B25J19/021	9	{Optical sensing devices}	B25J19/02	B25J19/02		1595
B25J19/022	10	{using lasers}	B25J19/02	B25J19/02		1121
B25J19/023	10	{including video camera means}	B25J19/02	B25J19/02		6392
B25J19/025	10	{including optical fibres}	B25J19/02	B25J19/02		89
B25J19/026	9	{Acoustical sensing devices}	B25J19/02	B25J19/02		634
B25J19/027	9	{Electromagnetic sensing devices}	B25J19/02	B25J19/02		258
B25J19/028	9	{Piezoresistive or piezoelectric sensing devices}	B25J19/02	B25J19/02		155
B25J19/04	9	Viewing devices	B25J19/04	B25J19/04		1856
B25J19/06	8	Safety devices	B25J19/06	B25J19/06		2962
B25J19/061	9	{with audible signals (audio controls B25J13/003)}	B25J19/06	B25J19/06		425
B25J19/063	9	{working only upon contact with an outside object}	B25J19/06	B25J19/06		488
B25J19/065	10	{Mechanical fuse}	B25J19/06	B25J19/06		88
B25J19/066	9	{Redundant equipment}	B25J19/06	B25J19/06		45
B25J19/068	9	{Actuating means with variable stiffness}	B25J19/06	B25J19/06		133
B25J21/00	7	Chambers provided with manipulation devices (constructional features of the mounting of the manipulator in the wall B25J1/08{; glove-boxes for nuclear applications G21F7/04})	B25J21/00	B25J21/00		511
B25J21/005	8	{Clean rooms}	B25J21/00	B25J21/00		154
B25J21/02	8	Glove-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 G21F7/04)}; Gloves therefor	B25J21/02	B25J21/02		981
