Laser wrist with sealed beam pathway

摘要

A laser beam pathway is established through hollow robotic wrist elements, including plural elements rotatable around first and second wrist axes transverse to one another and intersecting at a junction point. The junction point lies within a mirror chamber formed within a base housing of the robot elements, and a mirror is mounted within the mirror chamber to assist in directing the laser beam. The beam passes collinearly with the first and second wrist axes and first and second ducts are provided with a rotary joint included in the second duct, to isolate the beam pathway from internal wrist drive elements.