Robot articulation joint

Details Robot articulation joint Robot articulation joint

1988-04-11

1989-09-12

Braun, Leslie A.

Machine element or mechanism

Gearing

901 23, 901 28, 403161, F16H 3300, F16H 3500, F16H 3700, F16C 1006

Patent

active

048648884

ABSTRACT:
An articulated robot joint includes a coupling member 13 having a hollow cylinder 13a rigidly mounted to a lower arm 2 and rotatably journaled to an upper arm 1. An offset crank 13c extends from one end of the cylinder, and has a mounting hub 13d at the end of a radial arm thereof coupled to an axially disposed output shaft of a motor and harmonic drive unit 5, 6. A power/control cable 3 is threaded through the hollow interiors of the arms, and traverses the joint via the hollow cylinder.

REFERENCES:
patent: 1551332 (1925-08-01), Schramm
patent: 3108498 (1963-10-01), James et al.
patent: 4096766 (1978-06-01), Pardo et al.
patent: 4372728 (1983-02-01), Murakami
patent: 4518308 (1985-05-01), Grzybowski et al.
patent: 4547120 (1985-10-01), Turner, Jr. et al.
patent: 4678952 (1987-07-01), Peterson et al.
patent: 4690010 (1987-09-01), Matsumoto et al.

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