| 摘要 |
<p>A robot arm and wrist assembly (10) provides a plurality of movable arm sections (20, 31) having a tool supporting wrist (49) at the outer end. The arm has two sections (20, 31) that are pivotally mounted together for movement about horizontal axes (23, 32), and it can be rotated about a vertical axis. The wrist (49) is all hydraulically operated (89, 103), and provides movement about three mutually perpendicular axes (45, 94, 106) which intersect at a common point (114). The overall assembly (10) is light, reliable, and easily programmed for remote control. The robot arm sections (20) can be controlled by external force, velocity or position sensors in a closed loop system. </p> |
