Patent ID: 6230580
Filing Date: 2001-05-15
Classification: B25J,Y10T

Abstract:
A manipulator comprising:a first arm having a first reduction gear unit provided therein, said first reduction gear unit having a first drive axis;a second arm coupled to said first arm and having a second reduction gear unit provided therein, said second reduction gear unit having a second drive axis;a third arm coupled to said second arm and having a third reduction gear unit provided therein, said third reduction gear unit having a third drive axis;wherein said second drive axis is perpendicular to said first drive axis;wherein said third drive axis is perpendicular to said second drive axis;wherein said third drive axis is offset a predetermined distance from said second drive axis;wherein said second drive axis and said third drive axis are non-coplanar; andwherein said first drive axis and said third drive axis are always coplanar.