Patent ID: 7673384

Claim:
A robot for fastening component parts, the robot being associated with a frame, the robot comprising: a plurality of arms having a first end and a second end, the first end being operatively supported by the frame; an actuator being mounted between the first and the second end for varying the length of the arms; a wrist having a top side, a bottom side and an aperture centered thereon, the top side of the wrist further comprising a plurality of paired connection points; a pair of the second ends of the plurality of arms being operatively secured to each of the connection points on the top side of the wrist such that varying the length of the arms provides movement of the wrist about six axes of translation; a servo motor mounted on the top of the wrist and in driving communication downward through the aperture in the wrist; a gear box being mounted on the bottom side of the wrist and secured to the servo motor through the aperture in the wrist, the servo motor being adapted for driving the gear box; a pair of swing arms having a first end and a second end, the first end being attached to the gear box; and a nut runner being operatively attached to the second end of the swing arms, the servo motor driving the gear box thereby moving the swing arms and attached nut runners about a radius, the rotation of the swing arms about the radius and varying the length of the arms thereby providing movement of the nut runners about a seventh axis of translation.