Control arm, for robot applications, consists of two parallel branches having common base and wrist, with wrist support joints maintained at a constant angle by drive mechanism

摘要

The robot arms consist of two branches (2, 3), extending from a common base (1) and with a common wrist (4). The wrist support joints (8) are arranged between the wrist and the branches and the mechanism (12 to 16) is provided to maintain as constant the angles, which the wrist support joints make with the fixed planes.