Importance

Loading Importance Indicators...

Abstract

The invention provides a modular robotic wrist system for use with an industrial manipulator or the like. The individual modular units comprise a mounting bracket, an A axis module which is attachable to the mounting bracket and provides rotational movement about a first axis, a B axis module which is mountable either directly to the mounting bracket or to the A axis module to provide either rotational movement about a second axis or additional rotational movement about the second axis in conjunction with the rotational movement provided by the A axis module about a first axis and tool-mounting flanges which can be used in conjunction with the B axis module to provide rotational movement of an end effector either on the second axis or radially spaced about the second axis. Each of the modular units has a rotating member which is driven by a high-speed, low-torque DC motor coupled to a harmonic drive unit. The individual modules can be provided with position feedback mechanisms which provide both speed and locational information.

Loading the Abstract Image...

First Claim