Robot arm with split wrist motion

Details Robot arm with split wrist motion Robot arm with split wrist motion

1985-01-11

1985-11-26

Spar, Robert J.

Material or article handling

Vertically swinging load support

Grab

901 14, 901 28, G05J 1700

Patent

active

045552177

ABSTRACT:
A robot arm with upper and lower arm sections having shoulder, elbow and wrist joints. The shoulder joint is triaxial having a sweep axis, a swivel axis and a roll axis, the three axes being mutually perpendicular and intersecting at a point. The elbow joint has a single extension axis parallel to the swivel axis of the shoulder joint. The wrist joint has a pitch axis parallel to the elbow extension axis. Wrist roll motion is provided by roll motion of the shoulder joint so that the robot wrist may have low mass.

REFERENCES:
patent: 3922930 (1975-12-01), Fletcher et al.
patent: 4367532 (1983-01-01), Crum et al.

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