Patent ID: 7628093
Filing Date: 2009-12-08
Classification: B25J,Y10T

Abstract:
1. A robotic joint, comprising: a first link for attaching to a structural member of a robot body and comprising an electric actuator assembly mounted to a block; a second link attached to the first link that is driven by the electric actuator assembly to rotate about a first axis; a third link attached to the second link that is driven by the electric actuator assembly to rotate about a second axis orthogonal to the first axis; a fourth link attached to the third link that is driven by the electric actuator assembly to rotate about a third axis orthogonal to the second axis; a set of cables connected to the electric actuator assembly and to the second, third, and fourth links; and a roll drum mounted to the second link and attached to the cables to be driven by an electric motor to rotate about the first axis, wherein the first axis extends through the first link.