Three-axis wrist mechanism

Details Three-axis wrist mechanism Three-axis wrist mechanism

1981-08-13

1983-09-06

Herrmann, Allan D.

Machine element or mechanism

Gearing

Directly cooperating gears

3 124, 74479, 269 61, 269 71, 285184, 414 1, 414 4, B25J 1702, F16H 122, G05G 1100

Patent

active

044022344

ABSTRACT:
A three-axis wrist mechanism has three independent rotational axes with a point of mutual intersection. A stationary housing contains one of the axes while another axis is disposed in a tool support member. An intermediate axis is disposed in an intermediate housing. A plurality of gear trains provide the independent rotation of components about the three axes to permit selective positioning of a tool mounting surface within a substantially hemispherical envelope. The gear trains are arranged so that an unobstructed gear passage is maintained between the stationary base and the tool support member for accommodating hoses and/or wires which are used to transmit fluid and power to a tool mounted on the mounting surface of the tool support member.

REFERENCES:
patent: 3231098 (1966-01-01), Ainsworth
patent: 3315542 (1967-04-01), Fortin et al.
patent: 3600967 (1971-08-01), Auguin et al.
patent: 3985238 (1976-10-01), Nakura
patent: 4062455 (1977-12-01), Flatau
patent: 4068536 (1978-01-01), Stackhouse

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