Patent ID: 8677854

Claim:
An apparatus for a robot arm of an industrial robot, the apparatus comprising: a first module comprising a first and a second member rotatable in relation to each other about a first axis of rotation, the first member being indirectly, or directly, connectable to a base of the industrial robot, a second module comprising a first and a second member rotatable in relation to each other about a second axis of rotation, the first member of the second module being rigidly attached to the second member of the first module, and a third module comprising a first and a second member rotatable in relation to each other about a third axis of rotation, the first member of the third module being rigidly attached to the second member of the second module, wherein the second axis of rotation is substantially perpendicular to the first and the third axis of rotation, the second axis of rotation is offset from the first and the third axis of rotation when the first axis of rotation is substantially parallel to the third axis of rotation, and the third module comprises a motor unit comprising an output shaft rotatable about an axis which is substantially collinear with the third axis of rotation, the motor unit drives the relative rotation of the first and second members of the third module, wherein the motor unit intersects a plane in which the second axis of rotation lies, the plane is substantially perpendicular to the third axis of rotation.