EP 0296156 A4 19901128 - WRIST TENDON ACTUATOR
Title (en)
WRIST TENDON ACTUATOR
Publication
Application
Priority
US 82067786 A 19860121
Abstract (en)
[origin: WO8704540A1] The wrist actuator or joint (10) includes a ball (20) having two grooves (22, 24) in its surface, each groove extending circumferentially about the ball and disposed approximately 90<o> from each other. A housing (40) has a socket for receiving the ball and includes two slots (41, 42) located proximately at an equatorial plane of the ball. A frame (32) is secured to the ball at the intersection of the grooves opposite the housing. A first ribbon (52), slidable within the first groove (22), is attached to pivot pins (56, 58) in the slots and is looped aroud a first pulley (70) within the frame. A second ribbon (54), slidable within the second groove (24), is attached to pivot pins (60, 62) mounted in the housing at the approximate midpoints between the slots and is looped around a second pulley (74) within the frame. An output shaft (45) is connected to the housing. Motors (72, 76) provide selective movement of the drive ribbons.
IPC 1-7
IPC 8 full level
B25J 9/10 (2006.01); B25J 17/02 (2006.01)
CPC (source: EP)
B25J 9/104 (2013.01); B25J 17/0283 (2013.01)
Citation (search report)
- [AP] US 4628765 A 19861216 - DIEN ROBERT Y [US], et al
- [A] DE 219814 C
- See references of WO 8704540A1
Designated contracting state (EPC)
AT BE CH DE FR GB IT LI LU NL SE
DOCDB simple family (publication)
WO 8704540 A1 19870730; CA 1273379 A 19900828; EP 0296156 A1 19881228; EP 0296156 A4 19901128
DOCDB simple family (application)
US 8700061 W 19870120; CA 527697 A 19870120; EP 87900954 A 19870120