| 摘要 |
A robotic manipulator of the type having a plurality of serially connected drive shaft and a mounting surface (31) affixed to one end thereof comprises a first shaft (40) rotatable about a first axis (A-A) coincident with one ordinate of a mutually perpendicular triodinate system and a first housing (21b) rotatable about said first axis (A-A), a second shaft (27) rotatably mounted to said first shaft (40) for rotation about a second axis (B-B') oriented with respect to said first axis (A-A), and a second housing (21a) rotatable on the first housing (21b) about the second axis. Rotational movement is imparted to the second shafts (27) about said second axis (B-B) in accordance with the rotational movement of a shaft (42) rotatable about the first axis. A mounting surface (31) has a centerline angularly oriented with respect to the second shaft (27), and a third shaft (34) upon which the mounting surface (31) is attached is rotatable about a third axis (C-C) angularly oriented with respect to said second axis (B-B). An axis sharing cylinder (24) is substantially immovably mounted on the second housing (21a) parallel to said second axis (B-B), with such axis bearing cylinder extending partially inwardly in to the first housing and providing support for a gear cluster arrangement (50) substantially indenpendent of the first housing (21b). This arrangement produces a stiffer drive train, helps control backlash, and simplifies assembly. |
