Wrist mechanism

Material or article handling – Vertically swinging load support – Grab

Patent

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Details

74665A, 74479, 4147445, 901 15, 901 29, B25J 1702

Patent

active

049900501

ABSTRACT:
A wrist mechanism including: at least three rigid elements each having an element axis, said rigid elements being connected in series so that adjacent two elements are rotatable relative to each other about a rotation axis, the rotation axis of said two adjacent rigid elements intersecting said element axes thereof, each rotation axis of each rigid element intersecting adjacent rotation axis; a first rotating mechanism for rotating every second rigid element relative to the other rigid elements; a second rotating mechanism for rotating the other rigid element relative to said every second rigid element.

REFERENCES:
patent: 4068536 (1978-01-01), Stackhouse
patent: 4499784 (1985-02-01), Shum
patent: 4690012 (1987-09-01), Dahlquist et al.

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