| 摘要 |
A robot wrist actuator includes a mechanical joint having a forward and a rearward bearing assembly. The bearing assemblies rotate about respective spaced-apart center points positioned along a primary axis. Each bearing assembly includes an outer and an inner bearing. The outer and the inner bearings pivot about respective axes that are substantially perpendicular to each other and intersect at the respective center point. First and second linkage assemblies for transmitting motion from the rearward bearing assembly to the forward bearing assembly are rotatably secured to a housing. The first linkage assembly is attached to the forward outer bearing at one end and to the rearward outer bearing at another end. The second linkage assembly is attached to the forward inner bearing at one end and to the rearward inner bearing at the other end. A drive assembly provides motive force to the rearward bearing assembly. A tool member adapted for tool attachment is attached to the forward outer bearing. Pivotal movement of the rearward bearings about their respective axes caused by the drive assembly is transmitted through the first and second linkage assemblies to the forward assembly so that the tool member is movable in a hemispherical operating range. In addition, the housing is preferably rotatable along the primary axis so that the tool member is movable to any position along a hemispherical operating range in an efficient manner.
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