Spherical robotic wrist joint

Details Spherical robotic wrist joint Spherical robotic wrist joint

1985-02-27

1986-12-16

Dorner, Kenneth J.

Machine element or mechanism

Gearing

Plural power paths to and/or from gearing

901 18, 901 25, 901 29, 74479, G05G 1100, F16H 3706

Patent

active

046287655

ABSTRACT:
A robotic wrist joint comprises a spherical member which is mounted within a ring shaped housing for rotational movement in any direction. A control pin extends from an outer surface of the spherical member. A first semi-circular yoke is pivotally mounted to the ring shaped housing and carries a first track. A second yoke is provided in a position radially inwardly of the first yoke. The second yoke is also semi-circular and is mounted for rotation on the housing about an axis perpendicular to the rotational axis of the first yoke. The second yoke carries a second track. The control pin extends into both the first and the second track so that the spherical member can be brought into any desired location by selectively pivoting the yokes.

REFERENCES:
patent: 2681783 (1954-06-01), Smith
patent: 3212651 (1965-10-01), Specht et al.
patent: 3973469 (1976-08-01), Humen
patent: 4045958 (1977-09-01), Wells
patent: 4068536 (1978-01-01), Stackhouse
patent: 4068763 (1978-01-01), Fletcher et al.
patent: 4073201 (1978-02-01), Taylor et al.
patent: 4194437 (1980-03-01), Rosheim
patent: 4296681 (1981-10-01), Rosheim

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