Articulated arm for use in robot, has connection segments with articulations that include motorized transmission with motor fixed to base and coupled to handle by cable that is rolled on motor shaft and pulleys

摘要

The arm has a stream of segments (4,5,6) and connection segments with articulations expressing the degrees of freedom of the arm. A mobile handle moves on the stream of segments. The articulations have a motorized transmission that includes motor fixed to a base and coupled to the handle by a cable. The cable is rolled successively on a shaft of the motor and on pulleys that have their axis of rotation fixed on the segments.