Three-axes wrist mechanism

摘要

A three-axis wrist mechanism has first, second and third independent rotational axes with two points of mutual intersection which are offset from each other, the first axis being inclined at a fixed angle relative to at least one input drive axis of an input drive mechanism. The drive axis extends along the robot arm to which a first housing of the wrist mechanism is fixedly attached. A second housing is supported on the first housing for rotation about the first axis and a third housing is supported on the second housing for rotation about the second axis. A tool-support member having a tool-mounting surface is supported on the third housing for rotation about the third axis. Gear trains of the mechanism provide the independent rotation of the second and third housing structures and the tool support member to permit selective positioning of the tool-mounting surface in a work envelope. Each of the gear trains includes a gear member supported for rotation about the first axis and in driving engagement with its respective pinion gear which, in turn, is mounted at the end of its respective drive shaft of the drive mechanism.