| 摘要 |
MECHANICAL WRIST MECHANISM A three-axis wrist mechanism has three independent rotational axes with two points of mutual intersection which are offset from each other. The offset provides a generous bend radius for the wrist. First and second housing structures contain the first and second axes while the third axis is disposed within a tool support member. The first housing structure is adapted to be mounted to an outer tubular member of the arm of a robot to rotate independently of the rest of the mechanism. Gear trains of the mechanism provide the independent rotation of the second housing structure and the tool support member to permit selective positioning of a toolmounting surface of the tool support member within a work envelope. The gear trains are arranged so that an unobstructed passage is maintained between an arm-mounting surface of the first housing structure and the tool-mounting surface of the tool support member for accommodating hoses and/or wires which are used to transmit fluid and power to a tool mounted on the surface of the tool support member. |
