Patent ID: 7281447

Claim:
An articulated mechanism which may belong to a robot arm, comprising a base ( 1 ), a support ( 2 ) rotating on the base around a first axis (Y) and a unit rotating on the support ( 2 ) around a second axis (Z) not parallel to the first axis, as well as an actuator of the unit for rotating it, the actuator comprising a motor secured to the base; and characterized in that the actuator further comprises a tensioned cable ( 14 ) between a shaft of the motor, a pair of idle pulleys rotating on the base and a pulley attached to the unit, the idle pulleys ( 17 , 18 ) being substantially tangent to the first axis; the idle pulleys ( 17 , 18 ) and the pulley of the unit ( 22 ) being positioned so that the cable forms a pair of strands ( 23 , 24 ) substantially in extension and collinear with the first axis, between the pulley of the unit and the idle pulleys, respectively.