DRIVE MEANS FOR AN ARTICULATED HEAD AFFIXED AT THE EXTREMITY OF A MANIPULATOR ARM

摘要

A manipulator drive has a main support defining a main longitudinal axis, a housing rotatable on the main support about the main longitudinal axis, a head defining a head longitudinal axis and rotatable on the housing about an outer transverse axis crossing the main longitudinal axis, and a holder rotatable on the head about the head longitudinal axis. Respective housing, head, and holder stepdown drive transmissions have outputs connected directly to the housing, head, and holder and inputs and have stepdown transmission ratios of at least 70:1. Respective head and holder drive trains include respective head and holder right-angle drives having input shafts coaxial with the main longitudinal axis and coaxial output shafts defining an inner transverse axis generally parallel to the outer transverse axis but offset along the main longitudinal axis therefrom toward the support, respective head and holder output members connected to the respective transmission inputs and both rotatable about the outer tranverse axis, and respective head and holder connecting elements between the respective output shafts and output members for joint rotation of each output member with the respective output shaft.