| 摘要 |
<p>A wrist assembly for a robot simulator, or training arm, which is mountable at the end of the arm and to which a tool such as a spray gun is attached. The wrist assembly has three degrees of freedom and is made up of three links, each of which comprises a link shaft rotatably received in a link body. The wrist assembly may be oriented, during its use with the simulator arm and the gun, such that the first link serves as a roll axis and the second and third links and the gun may be rotated upwardly about this roll axis to a position over, and even overcenter of, the first link body and the simulator arm. To return the gun from this overcenter position, a torsion spring surrounding the first link shaft is attached at a first end to the first link body and coupled at a second end to the first link shaft to produce an increasing opposing force as the wrist assembly is rotated about the roll axis above the overcenter of the first link.</p> |
