Patent ID: 10836051

Abstract:
A robot arm comprising a number N of actuator-drivable joint connections GVn, which are connected in series via arm links GLi, where n=1, 2, . . . , N, and i=1, 2, . . . , N−1, and N≥6, wherein the robot arm is configured in such a way that the axes of rotation RGV,N-2 and RGV,N-1 of each of joint connections GVN-1, GVN-2 intersect at an angle in the range from 50 to 130°, an axis of rotation RGV,N of joint connection GVN, is arranged radially at a constant distance D1 from the axis of rotation RGV,N-1, and a sensor is present in the joint connection GVN-1 to detect a force or a torque about the axis of rotation RGV,N-1.