| 摘要 |
A robot wrist assembly (18) comprising a base member (19) mountable on an arm member (17) of the robot, a carrier member (20) mounted on the base member (19) for pivotal movement about a first axis (25), a support member (21) mounted on the carrier member (20) for pivotal movement about a second axis (26) intersecting the first axis (25) whereby the support member (21) is adapted to move universally relative to the base member (19), first (22) and second (23) control rods each having a base section (22a, 23a) operatively connectable to the robot for having motion along the length thereof imparted thereto and a linking section (22b), (23b) universally connected to the base section (22a, 23a) and connected to the support member (21), a rotational third control rod (24) having a base section (24b) and a tool mounting section (24f) universally connected to the base section (24b), and the pivotal center of the universal connection (24e) between the base (24b) and mounting section (24f) of the third control rod (24) coinciding with the intersection of the first (25) and second (26) axes. |
