Self-contained two-axis wrist module

Details Self-contained two-axis wrist module Self-contained two-axis wrist module

1983-03-01

1986-04-01

Pate, III, William F.

Machine element or mechanism

Gearing

Teeth

74417, 901 29, F16H 3702

Patent

active

045790167

ABSTRACT:
A two-axis wrist module includes a roll part 14 rotatable about a first axis A--A driven by shaft 38 coupled through harmonic drive unit 42 functioning as a speed reducer and shaft 44, and a bend part 16 carried by the roll part for rotation about the axis B--B and driven by shaft 68 and shaft 72 coupled to the bend part by the second harmonic drive unit functioning as a speed reducer, the entire wrist module being self-contained in that the motor means for obtaining the two-axis movement is provided in the power enclosure 10 of the wrist module and independent of any powering transmitted mechanically to the wrist module.

REFERENCES:
patent: 2906143 (1959-09-01), Musser
patent: 2959301 (1960-11-01), Willsea
patent: 3826383 (1974-07-01), Richter
patent: 3922930 (1975-12-01), Fletcher et al.
patent: 4030617 (1977-06-01), Richter
patent: 4047448 (1977-09-01), Pardo et al.
patent: 4068536 (1978-01-01), Stackhouse
patent: 4246661 (1981-01-01), Pinson
patent: 4365928 (1982-12-01), Baily
patent: 4402234 (1983-09-01), Malarz et al.
patent: 4431366 (1984-02-01), Inaba et al.
Industrial Robots, vol. 1, William R. Turner, pp. 3 and 7, printed Apr. 1979.

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