| 摘要 |
A robotic arm comprises a shoulder (1), first and second arm sections (2, 3) and an output member (4) intended to carry a wrist and gripper (80). Three independently operable drive mechanisms, each including an electric motor, gearbox and two stage system of pulleys and belts, are provided for rotating the first arm section about axis (A), rotating the second arm section about axis (B) and rotating the output member about axis (C). The drive mechanisms are so arranged that the wrist and gripper can be driven along a radial direction (A - C) by energising the first and second motors at equal speeds, and energising the second motor causes rotation of the output member to maintain the wrist and gripper (80) in constant angular orientation with respect to the radial direction (A - C). |
