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Browse Prior Art Database

Robot Wrist Mechanism

IP.com Disclosure Number: IPCOM000046127D
Original Publication Date: 1983-Jun-01
Included in the Prior Art Database: 2005-Feb-07
Document File: 2 page(s) / 26K

Publishing Venue

IBM

Related People

McAtee, DJ: AUTHOR

Abstract

There is shown and described a ball and socket mechanism of reduced complexity for providing wrist-like motion to a robotically controlled tool or the like.

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Robot Wrist Mechanism

There is shown and described a ball and socket mechanism of reduced complexity for providing wrist-like motion to a robotically controlled tool or the like.

In the figure, arm 2 can move in the X, Y and Z directions in a box frame robot, such as the IBM Robot System I. Improved wrist mechanism 4 is freely movable in bearing ring 6 attached to arm 2. Two linear actuators 8, which may be hydraulically powered, pass through arm 2 and connect to the top of wrist mechanism 4 at locations separated by 90 degrees. A support shaft 10 occupies the center of mechanism 4.

Gripper jaws of a known type may be connected at point 5 to wrist mechanism 4 for movement therewith.

This mechanism has fewer mechanical linkages and parts than some others. Movement in different directions is accomplished by individually varying the extension of linear actuators 8. A modified configuration provides more complex movement achieved by attaching multiple wrist mechanisms 4 to each other

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