A robot "hand" having a wrist action providing motion in yaw, pitch and roll, comprising three motor assemblies (M1, M2, M3) connected mechanically in tandem, with the mechanical output of the first assembly (M1) connected to the second motor assembly (M2) and the mechanical output of the second assembly connected the third motor assembly (M3), the mechanical connections affording rotation of the three assemblies in mutually orthogonal axes. Each of the motor assemblies comprises a stepping motor of the variable reluctance type having an even plurality of three-phase magnetic pole structures. A work piece or a gripping device (25-33) is connected to the mechanical output of the third motor assembly.
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