Robot wrist and arm.

摘要

A structural arrangement of an arm and wrist for a robotic manipulator having an end effector 10, includes hollow concentric tubes 22, 24 and 26 extending through the arm to power the wrist 8 through three independent axes with the gear train for the end effector 10 including bevel gear 46 meshing with larger diameter bevel gear 48 connected to gear 56 meshing with gear 58, and bevel gear 50 at the end of the intermediate tube 24 meshing with larger diameter bevel gear 52 attached to one part 12 of the wrist for effecting rotation of that one part about the axis II. The structural arrangement accommodates resolvers 62 and 64 at the wrist for high accuracy resolution, and the hollow conduits including resolver extensions 66 and 72 provide a central service access conduit for the passage of lines for powering the device carried by the end effector.