| 摘要 |
A multiple joint robot part comprising a mechanical wrist mechanism utilizes universal joints to effect simultaneous rotations about three mutually perpendicular axes to thereby impart pitch, yaw and roll motions to a robotic end effector attached thereto. All of the wrist motions are kinematically independent, and the pitch and yaw motions are activated by means of linear motion actuators. Pitch and yaw bend angles are traversed gradually in two or more stages to allow a generous bend radius for internally routed service lines to the end effector.
|
