Split-ball type wrist and manipulator assembly for robot.

摘要

A robot arm apparatus comprises split-ball type wrist and manipulator assembly which includes a first ball portion 2, a second ball portion 4 rotable independently and relative to the first ball portion, and end actuator 52 rotatably carried by the second ball portion 4 the first ball portion 2 is controlled in its rotation by the hollow outer shaft 38, the second ball portion 4 being controlled in its rotation by rotation of an inner shaft 39 coupled to the second ball portion by the hollow, flexible coupling 45, and the end actuator rotation being controlled by the innermost hollow shaft 42 rotation connected to the end actuator by the inner flexible coupling 53. A power line means 58 for controlling tool operation at the actuator, extends totally internally of the wrist and arm to the source of power.