received by the International Bureau on 03 August 2017 (03.08.2017)

What is claimed is:

1 . A device comprising:

a base;

a tower connected to the base, the tower having a longitudinal axis, wherein the tower is configured to rotate relative to the base about the longitudinal axis;

a first arm connected to the tower, wherein a connection of the first ami to the tower enables translational movement of the first arm transverse to the longitudinal axis of the tower, and wherein a longitudinal axis of the first arm is not parallel to the longitudinal axis of the tower;

a second arm connected to the first arm, wherein the second arm is configured to rotate relative to a first axis of the first arm; and

an end effector interface connected to the second arm, the end effector interface configured to couple to an end effector usable for an application.

2. The device of claim 1 , further comprising one or more modules coupled to the tower, the one or more modules configured to provide functionality to the device and the end effector.

3. The device of claim 2. wherein the one or more modules comprise a control module including a control interface and indicators configured to indicate a status of the device.

4. The device of claim 3, wherein the control module further comprising an interaction mechanism to control the status of the device.

5. The device of claim 2, wherein the one or more modules comprises an accessory module configured to work with the end effector to facilitate use of the end effector for the application.

6. The device of claim 5, wherein the accessory module includes a supply assembly for material supply to the end effector, a return assembly for removal of particular material from a vicinity of the end effector, electrical components, or combinations thereof, to facilitate use of the end effector for the application.

7. The device of claim 3, wherein the one or more modules are configured to be stacked on a portion of the tower such that one or more stacked modules are

mechanically and electrically connected to one another, the tower, and the end effector coupled to the end effector interface,

8. The device of claim 7, wherein the control module is configured to be a topmost of the one or more modules.

9. The device of claim 8, further comprising a movable platform coupled to the tower and a mobility controller configured to communicate with the movable platform and configured to control movement of the base via the movable platform.

10. The device of any one of claims 1 and 2, farther comprising an autolevelling sensor or probe configured to sense a height: of a work surface.

1 1 - The device of claim 10, wherein the autolevelling sensor or probe is configured to measure the height of the work surface at a plurality of different points on. the work surface and to provide the measurements as data to a controller to enable preparation of a digital map of the work surface.

12. The device of claim 1 , wherein the end effector interface is configured to be removably eoupleab!e to a plurality of different end effectors.

13. The device of claim 1 , wherein the end effector interface includes a plurality of power connectors to accommodate different power requirements of different end effectors configured to couple to the end effector interface.

14. A device comprising:

a base;

a tower connected to the base, the tower having a longitudinal axis, wherein the tower is configured to rotate relative to the base about the longitudinal axis;

a first arm connected to the tower, wherein a connection of the first, arm to the tower enables translational movement of the first arm relative to the longitudinal axis of the tower, and wherein a longitudinal axis of the first arm is not paral lel to the longitudinal axis of the tower;

a second arm connected to the first arm, wherein the second arm is configured to rotate relative to a first axis of the first arm, the second arm including an end effector interface configured to couple to an end effector usable for an application; and a controller configured to couple to the tower, the controller configured to cause rotation of the tower relative to the base, cause translation of the first arm along the longitudinal axis of the tower, cause rotation of the second arm relative to the first arm, or combinations thereof.

15. The device of claim 14, further comprising:

a three dimensional (3D) printing end effector configured to couple to the end effector interlace; and

a removable accessory module configured to couple to the tower and the

controller, the removable accessory module configured to dispense material as a filament to the end effector for use in 3D printing to form a

3D printed object.

16. The device of claim 15, wherein the accessory module includes a motor positioned therein to feed the filament into a 3D printer head of the end effector,

17. The device of claim 14, further comprising a movable platform coupled to the base and a mobility controller to control movement of the movable platform.

18. A method, comprising:

adjusting a distance of an end effector of a robotic arm relative to a work surface by translational movement of a first arm of the robotic arm relative to a tower of the robotic arm, wherein a longitudinal axis of the first arm is not parallel to a longitudinal axis of the tower, and wherein the first arm or the end efiector includes a distance sensor;

using the distance sensor to take a first measurement of a first distance from the distance sensor to the work surface;

adjusting a position of the end effector via rotation of the tower relative to a base, via rotation of a second arm coupled to the end effector relative to the first arm, or both;

using the distance sensor to take a second measurement of a second distance from the distance sensor to the work surface;

adjusting the position of the end efiector via rotation of the tower relative to the base, via rotation of the second arm relative to the first arm, or both; using the distance sensor to take a third measurement of a third distance from the distance to the work surface; and

sending data corresponding to the first measurement, the second measurement, and the third measurement to a module coupled to the tower, wherein the module is configured to use the data to prepare a digital map of the work surface.

19. The method of claim 18, wherein adjusting the distance comprises providing movement data to a controller, wherein the controller is electrically coupled to the tower, and wherein the controller causes translational movement of the first arm relative to the tower based on the movement data,

20. The method of claim 18, further comprising using the digital map of the work surface to accommodate contours of the work surface during use of the end effector to perform a task.

21. A device comprising:

a base;

a tower connected to the base, the tower having a longitudinal axis, wherein the tower is configured to rotate relative to the base about the longitudinal axis;

a first arm connected to the tower, wherein a connection of the first ami to the tower enables translationai movement of the first arm relative to the longitudinal axis of the tower, and wherein a longitudinal axis of the first arm is not paral lel to the longit udinal axis of the tower;

a second arm connected to the first arm, wherein the second arm is configured to rotate relative to a first axis of the first arm, the second arm including an end effector interface configured to couple to an end effector usable for an application;

a supply assembly for the end effector configured to removably couple to a first interface of the tower; and

a first controller configured to enable rotation of the tower relative to the base, translationai movement of the first arm relative to the tower, rotation of second arm relative to the first arm, functionality of the end effector, or combinations thereof

22. The device of claim 21 , wherein the base is configured to be positioned on a rail system, the rail system configured to slide the base along one or more rails using a second controller in communication with the first controller, a path selected to facilitate performance of the application,

23. The device of claim 21 , wherein the second arm comprises a distance sensor.