Patent ID: 8109172
Filing Date: 2012-02-07
Classification: B25J,H01L,Y10T

Abstract:
1. A robot, comprising: a hub; an end effector; first and second elbow joints; a first lower arm having a first end which is rotatably attached to said hub; a second lower arm having a first end which is rotatably attached to said hub; a wrist assembly; a first forearm having a first end which is attached to a second end of said first lower arm by way of said first elbow, and having a second end which is attached to said end effector by way of said wrist assembly; and a second forearm having a first end which is attached to a second end of said first lower arm by way of said second elbow, and having a second end which is attached to said end effector by way of said wrist assembly; wherein said wrist assembly comprises (a) a first radius; (b) a second radius; (c) a first band that extends around a portion of each of said first radius and said second radius, (d) a first fastener adapted to attach a first terminal portion of said first band to at least one of said first forearm and said first radius, and (c) a second fastener adapted to attach a second terminal portion of said first band to at least one of said first forearm and said first radius; wherein said first fastener allows the first terminal portion of the first band to pivot about an axis.