| 摘要 |
<p>Apparatus for transferring an object between spaced locations comprises first and second articulated arms (56, 58) mounted on a support, each articulated arm having a drive member (60, 66) disposed for rotation about a drive axis (62) and, pinned to it, a shorter driven member (80, 82). A wrist plate (98) with an integral holding platform (96) is pivotally coupled to the driven members (80, 82) at spaced apart locations. The wrist plate (98) extends transverse of the extend-retract path for the holding platform (96). A pair of spaced pivot drums (106, 108) project from a surface of the wrist plate and distal bores (112, 116) of the first and second driven members (80, 82) are pivotally engaged with the pivot drums (106, 108). A wrist link mechanism (134) extends between and interconnects the distal ends of the first and second driven members (80, 82) such that equal and opposite rotational movements of the second driven member (82) are imparted to the first driven member (80).</p> |
