| 摘要 |
Apparatus for pivoting a robot or manipulator operating head about a yaw axis wherein the head is mounted on a wrist mechanism with a roll axis. The operating head is mounted on a head support member connected by a yaw pin to the forward end of the wrist mechanism for pivotal movement between a normal, forwardly extending position and a yawed position. A fluid cylinder with a forwardly extending piston rod is mounted on the wrist mechanism and is operatively connected by flexible means to the head support member. The flexible means includes a bell crank with one arm operatively connected to the piston rod, and a link connected between the other end of the bell crank and the head support member. When the piston rod extends and retracts, the operating head is pivoted about the yaw axis. The linkage isolates the fluid cylinder from the gravity forces resulting from the moment produced about the yaw axis by roll motion of the operating head about the roll axis when the head is in the normal position.
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