Patent ID: 8498741
Filing Date: 2013-07-30
Classification: B25J,Y10T

Abstract:
1. A wrist joint assembly operatively defined between a lower arm and a hand of a humanoid robot, the wrist joint assembly comprising: a pair of links operatively interconnecting the lower arm and the hand; wherein the links extend in a spaced and generally parallel relationship to one another; a pair of linear actuators operatively interconnecting the lower arm and a respective one of the pair of links; a yaw axis; a pitch axis disposed in a spaced and generally perpendicular relationship to the yaw axis; wherein the pitch axis is disposed between the yaw axis and the lower arm such that the yaw axis and the pitch axis do not intersect one another; wherein the hand is rotatable relative to the lower arm about each of the yaw axis and the pitch axis; wherein each of the linear actuators is configured for independent linear movement, relative to the lower arm, such that the respective one of the pair of links moves in response to movement of the respective linear actuator to move the hand about at least one of the yaw axis and the pitch axis; wherein each of the pair of linear actuators is configured to move in the same direction such as that the hand rotates at least about the pitch axis; and wherein each of the pair of linear actuators is configured to move in opposite directions such that the hand rotates at least about the yaw axis.