Multiple joint robot part

Details Multiple joint robot part Multiple joint robot part

1987-10-22

1989-02-21

Herrmann, Allan D.

Machine element or mechanism

Control lever and linkage systems

Multiple controlling elements for single controlled element

901 28, 901 29, G05G 1100, B25J 1700, B25J 1702

Patent

active

048054771

ABSTRACT:
A multiple joint robot part comprising a mechanical wrist mechanism utilizes universal joints to effect simultaneous rotations about three mutually perpendicular axes to thereby impart pitch, yaw and roll motions to a robotic end effector attached thereto. All of the wrist motions are kinematically independent, and the pitch and yaw motions are activated by means of linear motion actuators. Pitch and yaw bend angles are traversed gradually in two or more stages to allow a generous bend radius for internally routed service lines to the end effector.

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patent: 4724716 (1988-02-01), Kawai
patent: 4744264 (1988-05-01), Milenkovic

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