Split-ball type wrist and manipulator assembly for robot

Details Split-ball type wrist and manipulator assembly for robot Split-ball type wrist and manipulator assembly for robot

B - Operations, Transporting

25

J

294/4

B25J 11/00 (2006.01) B25J 17/02 (2006.01)

Patent

CA 1210421

11 ABSTRACT OF THE DISCLOSURE A split-ball type wrist and manipulator assembly (Figure 6) includes a first ball portion 2, a second ball portion 4 rotatable independently and relative to the first ball portion, and end effector 52 rotatably carried by the second ball portion 4, the first ball portion 2 being controlled in its rotation by the hollow outer shaft 38, the second ball portion 4 being controlled in its rotation by rotation of an inner shaft 39 coupled to the second ball portion by the hollow, flexible coupling 45, and the end effector rotation being controlled by the innermost hollow shaft 42 rotation connected to the end effector by the inner flexible coupling 53, and with power line means 58 for controlling tool operation extending totally internally of the wrist and arm to the source of power.

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