| 摘要 |
A robot arm comprises a joint mechanism such as a wrist(5 fig. 1) for articulating two limbs 310, 311 of the arm relative to one another about two non-parallel rotation axes 62, 63, the joint comprising: an intermediate carrier or cruciform coupler 64 attached to a first one of the limbs 310 by a first revolute joint having a first rotation axis 62 and to a second one of the limbs by a second revolute joint having a second rotation axis 63; a first drive gear 74 disposed about the first rotation axis 62 and being fast with the carrier 64; a second drive gear 75 disposed about the second rotation axis 63 and being fast with the second one of the limbs 311; a first drive shaft 76 extending along the first one of the limbs 310 and having a first shaft gear 78 engaging and driving the first drive gear 74; a second drive shaft 77 extending along the first one of the limbs 311 on a first side of a plane containing the second rotation axis 63 and extending through that plane to the second side of that plane so as to cross the joint; and an intermediate linkage 79, 80, 81 that meshes with the second drive shaft 77 on the second side of the plane and that couples the second drive shaft 77 to the second drive gear 75. The second drive shaft 77 may comprise a flexible element such as a universal joint 82 on the first rotation axis 62. Drive gears 74, 75 maybe driven by worm gears 78, 79. |
