Machine element or mechanism – Control lever and linkage systems – Multiple controlling elements for single controlled element
Patent
1992-01-29
1993-01-12
Braun, Leslie A.
Machine element or mechanism
Control lever and linkage systems
Multiple controlling elements for single controlled element
901 2, 901 14, 901 15, 901 19, 31856811, 414 4, B25J 1800
Patent
active
051780313
ABSTRACT:
A robot wrist with two articulation axes has a first body which is carried at the distal end of the robot arm, a second body which is supported by the first body for rotation about a first axis which intersects the longitudinal axis of the robot arm at right angles, and a third body which is supported by the second body for rotation about a second axis which intersects the first axis at right angles. The second and third bodies are rotated by two electric motors which are mounted on the first body and the second body respectively, with the interposition of "Harmonic Drive" reduction units of the type in which the output rotor is supported for rotation by a load-bearing element which forms part of the reduction unit.
REFERENCES:
patent: 4425818 (1984-01-01), Asada et al.
patent: 4507043 (1985-03-01), Flatau
patent: 4512710 (1985-04-01), Flatau
patent: 4518308 (1985-05-01), Grzybowski et al.
patent: 4812104 (1989-03-01), Suzuki
patent: 5008832 (1991-04-01), Torii et al.
European Search Report for Applicants' corresponding EP Application No. 92 83 0099.5 (mailed Jun. 23, 1992).
Amparore Mauro
Orsi Mario
Braun Leslie A.
Comau S.p.A.
Trousdell William O.
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