Patent ID: 8950286
Filing Date: 2015-02-10
Classification: B25J,Y10S,Y10T

Abstract:
1. A structure with six degrees of freedom for a robot or haptic interface comprising: a base; a wrist joint comprising a connecting segment onto which a handle holder is articulated about a first rotation axis, a handle articulated in rotation on the handle holder about a second rotation axis, said handle being capable of being moved in rotation about the first axis, the second axis and a third axis; two branches in parallel, said branches being installed articulated at one end on the base and at the other end on the wrist joint, said branches each comprising a shoulder at the base, an arm and a forearm at the wrist joint, the forearm being articulated onto the arm; and a gearing down device which gears down the rotation of said handle holder about at least the first rotation axis relative to rotation of the connecting segment.