Machine element or mechanism – Control lever and linkage systems – Multiple controlling elements for single controlled element
Patent
1986-01-21
1987-08-18
Arola, Dave W.
Machine element or mechanism
Control lever and linkage systems
Multiple controlling elements for single controlled element
74655A, 901 26, 901 29, G05G 1100
Patent
active
046868666
ABSTRACT:
A present invention is a robot wrist actuator including a mechanical joint having a housing. First and second gimbal assemblies are rotatably mounted to the interior of the housing to provide pitch and yaw movement. A collar is rotatably attached to the housing. A drive mechanism is connected to the second gimbal assembly to provide roll movement. An output shaft for tool attachment is connected to the first gimbal assembly. A drive assembly preferably including linearly-actuated rods provides motive force for movement of the first and second gimbal assemblies.
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