Patent ID: 10161504

Abstract:
In accordance with an example embodiment, a wrist includes a frame, ring gear rotatable about a ring axis, and motor assembly with a pinion subassembly and motor with an output shaft. The pinion subassembly includes an internal spline and pinion connected to opposite sides of an internal shaft and rotatable about a pinion axis, and motor and frame bolt patterns. The motor is fastenable to the pinion subassembly at a plurality of motor-pinion indices via the motor bolt pattern. The pinion subassembly is fastenable to the frame mount at a plurality of pinion-frame indices via the frame bolt pattern so as to mesh the pinion with the ring gear and allow the output shaft to drive the ring gear via the internal spline, internal shaft, and pinion. The distance between the ring axis and the pinion axis varies for the plurality of pinion-frame indices.