Patent ID: 8319467

Claim:
A robotic manipulator comprising: at least two limbs connected to each other at a motion axis allowing relative movement of each of said two limbs with respect to each other; an axle drive in mechanical connection with said motion axis that operates on said motion axis to move said limbs relative to each other, said axle drive comprising a rotor motor, a position transmitter and a transmission; and said transmission comprising at least one planetary gear set comprising a center gear and at least one planet gear that meshes with said center gear, and a ring gear, said at least one planet gear being mounted on a planet gear carrier, one of said two limbs being connected to said ring gear with torque-proof connection and being mounted by said ring gear in a ring gear mounting arrangement selected from the group consisting of radial mounting and axial mounting, and the other of said limbs being connected to said planet gear with a torque-proof connection and being mounted by said planet carrier in a planet gear carrier mounting arrangement selected from the group consisting of radial mounting and axial mounting.