| 摘要 |
A work-performing manipulator robot having a base, a turret rotatable on the base about a vertical axis, a vertical arm rotatably mounted on the turret for rotation about a horizontal axis at a shoulder joint, and a horizontal arm rotatably mounted on the vertical arm for rotation about a horizontal axis at an elbow joint. The mounting of and angular position transducer for the turret/base joint is such that electrical cables and hydraulic fluid hoses can be coupled through apertures in the turret and the base to a channel in the vertical arm. The vertical arm is driven by a cylinder/piston assembly wherein the cylinder is pivotally attached to the vertical arm and the rod is pivotally attached to the turret, reducing the relative travel between the cylinder and the vertical arm. A servo valve for each of the armactuating cylinders is mounted on the side of the vertical arm and pivotally attached to the arm about the same pivot point as the associated cylinder so that the servo valve and the cylinder may be coupled together by rigid fluid conduits without relative movement between the servo valve and the cylinder.
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