Patent ID: 7531979

Claim:
A direct drive robotic manipulator comprising: a stationary support surface; a base segment fixedly mounted on the stationary support surface; a first segment having a first end and a second end opposite the first end of the first segment; a first spindle rotatably coupling the first end of the first segment to the base segment; a second segment having a first end and a second end opposite the first end of the second segment; a second spindle rotatably coupling the first end of the second segment to the second end of the first segment; a third segment having a first end; a third spindle rotatably coupling the first end of the third segment to the second end of the second segment; and a plurality of direct drive assemblies including a first direct drive assembly positioned in the base segment to drive the first spindle, a second direct drive assembly positioned in the first segment to drive the second spindle and a third direct drive assembly positioned in the second segment to drive the third spindle, each direct drive assembly encloses an end of a spindle and comprises comprising a rotor assembly having permanent magnets mounted on a respective spindle to be driven, and a stator assembly having a coil bracket surrounding the rotor assembly and enclosing one end of the respective spindle.