| 摘要 |
A nut (12) rigidly and non-rotatably mounts a cylinder portion to an end region of the first robot arm (2). The cylinder portion communicates with an interior of the first arm. The cylinder portion is mounted to an end region of the the second robot arm (1) such that the cylinder portion communicates with an interior of the second arm and the offset member and mounting hub are disposed within the second arm interior. A drive (5,6) is rigidly mounted to the second arm, having an output shaft disposed coaxially with the cylinder portion and rigidly coupled to the mounting hub. A flexible cable (3) carries power, signal and/or control lines and is threaded through the hollow interiors of the first and second arms traversing the joint via the hollow cylinder portion. |
