Patent ID: 6068442
Filing Date: 2000-05-30
Classification: B25J

Abstract:
A robot comprising:a pedestal for housing three motors;three concentric drive tubes, each with one end in the pedestal and a pulley on the end in the pedestal;three belts, each belt coupling the output of one of the motors to one of the pulleys in the pedestal;an upper arm disposed over the pedestal and housing the other ends of the drive tubes, the outer drive tube coupled to the upper arm for rotating the upper arm in a first plane;two concentric driven tubes, each with one end in the upper arm and a pulley on the end in the upper arm;two belts, each belt coupling a pulley of one the drive tubes in the upper arm to one of the pulleys of a driven tube in the upper arm;a lower arm disposed under the upper arm and housing the other end of each of the driven tubes, the outer driven tube coupled to the lower arm for rotating the lower arm in a second plane and a pulley on the end of the inner driven tube in the lower arm;a pair of idler pulleys in the lower arm;a belt around the pulley on the inner driven tube and passing between the idler pulleys;a quill coupled to the idler pulleys for traveling in a direction transverse to the first and second planes of rotation of the respective upper and lower arms.