Wrist joint assembly

Details Wrist joint assembly Wrist joint assembly

1976-07-26

1978-01-17

Werner, Frank E.

3 125, 74515E, B25J 300

Patent

active

040687635

ABSTRACT:
A wrist joint assembly is provided for use with a mechanical manipulator arm for finely positioning an end-effector carried by the wrist joint on the terminal end of the manipulator arm wherein the wrist joint assembly is pivotable about a first axis to produce a yaw motion, a second axis to produce a pitch motion, and a third axis to produce a roll motion, wherein the three axes are mutually perpendicular and have a common point of origin. The wrist joint assembly includes a disk segment affixed to the terminal end of the manipulator arm and a first housing member rotatably carried on the disk segment about the first axis. A second housing member is rotatably carried on the first housing member and a third housing member is rotatably carried on the second housing member whereby the third housing member and the mechanical end-effector carried thereon are moved in the yaw, pitch, and roll motion. Drive means are provided for rotating each of the housings about their respective axis which includes a cluster of miniature motors having spur gears carried on the output drive shaft thereof which mesh with a center drive gear affixed on the housing to be rotated.

REFERENCES:
patent: 3043448 (1962-07-01), Melton
patent: 3451224 (1969-06-01), Colechia et al.
patent: 3849668 (1974-11-01), Dane
patent: 3922930 (1975-12-01), Fletcher et al.

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