A robot arm comprising a joint mechanism for articulating one limb (310) of the arm relative to another limb (311) of the arm about two non-parallel rotation axes (20, 21), the mechanism comprising: an intermediate carrier (28) attached to a first one of the limbs by a first revolute joint having a first rotation axis and to a second one of the limbs by a second revolute joint having a second rotation axis; a first drive gear (33) disposed about the first rotation axis and fast with the carrier, whereby rotation of the carrier relative to the first limb about the first rotation axis can be driven; a second drive gear (37) disposed about the second rotation axis and fast with the second one of the limbs, whereby rotation of the second one of the limbs about the second rotation axis relative to the carrier can be driven; at least one of the first and second drive gears being a sector gear.
申请公布号
WO2017013451(A4)
申请公布日期
2017.03.09
申请号
WO2016GB52262
申请日期
2016.07.22
申请人
CAMBRIDGE MEDICAL ROBOTICS LTD
发明人
MARSHALL, Keith;HARES, Luke David Ronald;JACKSON, Thomas Bates;RANDLE, Steven James;ROBERTS, Paul Christopher;MOTTRAM, Edward John;DA SILVA, Ricardo Michael Henderson;DEANE, Gordon Thomas