Robotic wrist

Details Robotic wrist Robotic wrist

1986-03-24

1987-08-04

Spar, Robert J.

Material or article handling

Vertically swinging load support

Grab

414751, 901 16, 901 29, 74479, B25J 1702

Patent

active

046843124

ABSTRACT:
The invention provides a modular robotic wrist system for use with an industrial manipulator or the like. The individual modular units comprise a mounting bracket, an A axis module which is attachable to the mounting bracket and provides rotational movement about a first axis, a B axis module which is mountable either directly to the mounting bracket or to the A axis module to provide either rotational movement about a second axis or additional rotational movement about the second axis in conjunction with the rotational movement provided by the A axis module about a first axis and tool-mounting flanges which can be used in conjunction with the B axis module to provide rotational movement of an end effector either on the second axis or radially spaced about the second axis. Each of the modular units has a rotating member which is driven by a high-speed, low-torque DC motor coupled to a harmonic drive unit. The individual modules can be provided with position feedback mechanisms which provide both speed and locational information.

REFERENCES:
patent: 4096766 (1978-06-01), Pardo et al.
patent: 4370091 (1983-01-01), Gagliardi
patent: 4398110 (1983-08-01), Flinchbaugh

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