Two-axis wrist module

Details Two-axis wrist module Two-axis wrist module

B - Operations, Transporting

25

J

294/9

B25J 17/02 (2006.01) B25J 9/10 (2006.01)

Patent

CA 1217520

ABSTRACT OF THE DISCLOSURE 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 indepen- dent of any powering transmitted mechanically to the wrist module.

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