| 摘要 |
A compact fiber placement apparatus includes a fiber placement head, an articulated wrist apparatus, and a wrist mounting adapter for connecting the compact fib er placement apparatus to a fiber placement machine. The components of the compact fiber placement apparatus are operatively connected to one another by a wrist rotation torqu e motor, a head rotation torque motor, and a wrist pivot torque motor, to provide pivoting a nd rotating motion. A redirect arrangement includes a pivot redirect element driven by the wrist rotation torque motor at one half of the rotational speed at which a first and second wrist element of the articulated wrist apparatus pivot with respect to one another.
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