Robotic manipulator having three degrees of freedom

摘要

A robotic manipulator provides three degrees of freedom of movement of an end effector or gripper using only motors which are mounted on a frame. Included is a first actuator assembly providing rotation of a first input link about first and second axes. A compound motor provides this rotation about two axes through a differential gear mechanism. A second actuator provides rotation of a second input link about a third axis. The two input links are each connected to an output link, which in turn are connected, with an end effector being disposed on the end of one of the output links.