Patent ID: 7467782

Claim:
A robotic wrist configured for articulation about at least three axes, the robotic wrist comprising: a first section; a second section coupled with the first section; a third section coupled with the second section, wherein each of the first section, the second section and the third section are configured to articulate about at least one axis of the at least three axes, and wherein at least one of the first section, the second section and the third section is configured to articulate about each of the at least three axes, at least two of the at least three axes being oriented such that they do not intersect each other; a material delivery mechanism associated with the third section; a first bearing coupled to the first section to accommodate relative rotation of at least one of the first section and the second section about at least one of the at least three axes, wherein an opening is formed in the first bearing; and a material redirect system configured to deliver an elongated material element to the material delivery mechanism along a material path having a portion that extends through the opening of the first bearing.