Robotic wrist.

摘要

A robotic manipulator wrist has one part 10 rotatable relative to the other part 12 of the wrist; gear train means 16. 18, 20, operates to rotate the end effector shaft 14 when a brake (clutch) 36 is applied to prevent relative movement between the two parts 10 and 12, and to rotate one part 10 relative to the other part 12 when a second brake (clutch) 38 is applied to prevent relative movement between the end effector gear 18 and the intermediate gear 16.