Patent US7165256B2 successfully refreshed from Google Patents.
Patent EP0085307A2 successfully refreshed from Google Patents.
EP0085307A2
Expired / Lapsed
EP
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Flexible wrist mechanism
Assignee: Hitachi Ltd
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Filing: 1983-01-11
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Granted: —
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Expires: 2003-01-11
Abstract
Abstract A wrist mechanism includes a plurality of rigid links connected together by a plurality of joints, wherein each of the joints includes a joint member interconnecting the adjacent links in a mannerto enable an angular displacement to be transmitted between the adjacent links, and an angular displacement transmitting section for transmitting the angular displacement between the links in the form of at least two rotational angle components.
Inventors
- 👤 Norihisa Miyake
Bibliographic Details
Application Number
—
Jurisdiction
EP
Data Source
google_patents
Last Synchronized
2026-10-26 01:19
CPC Classifications
B; B25; B25J; B25J9/00; B25J9/06; B25J17/00; B25J17/02; B25J17/0258; B25J17/0275
Claims Analysis
Total Claims: 12
Claim 1
Independent Claim
85 words
A wrist mechanism comprising a plurality of rigid links, and a plurality of joints each for connecting the adjacent rigid links together; wherein the improvement resides in that: each of the joints comprises a joint member interconnecting the adjacent links in a manner to enable an angular displacement to be transmitted between the adjacent links, and an angular displacement transmitting section provided to the joint member for transmitting the angular displacement between the links in the form of decomposing at least two rotational angle components.
Claim 2
Dependent Claim
85 words
A wrist mechanism comprising a plurality of rigid links, and a plurality of joints each for connecting the adjacent rigid links together; wherein the improvement resides in that: each of the joints comprises a joint member interconnecting the adjacent links in a manner to enable an angular displacement to be transmitted between the adjacent links, and an angular displacement transmitting section provided to the joint member for transmitting the angular displacement between the links in the form of decomposing at least two rotational angle components.
Claim 3
Dependent Claim
21 words
A wrist mechanism as claimed in Claim 1, wherein said joint has two axes intersecting each other at a right angle.
Claim 4
Dependent Claim
15 words
A wrist mechanism as claimed in Claim 2, wherein said joint comprises a univeral joint.
Claim 5
Dependent Claim
13 words
A wrist mechanism as claimed in Claim 2, wherein said joint comprises gimbals"
Claim 6
Dependent Claim
15 words
A wrist mechanism as claimed in Claim 2, wherein said joint comprises a cross joint.
Claim 7
Dependent Claim
46 words
A wrist mechanism as claimed in Claims 3 to 5, wherein said angular displacement transmitting section comprises first transmitting means for changing the direction of a relative angular displacement between the link and the joint, and second transmitting means for transmitting an angle between the joints.
Claim 8
Dependent Claim
16 words
A wrist mechanism as claimed in Claim 6, wherein said first transmitting means comprises bevel gears.
Claim 9
Dependent Claim
16 words
A wrist mechanism as claimed in Claim 7, wherein said bevel gears comprise partial bevel gears.
Claim 10
Dependent Claim
22 words
A wrist mechanism as claimed in Claim 6, wherein said second transmitting means comprises spur gears in meshing engagement with each other.
Claim 11
Dependent Claim
17 words
A wrist mechanism as claimed in Claim 6, wherein said second transmitting means comprises a parallel linkage.
Claim 12
Dependent Claim
20 words
A wrist mechanism as claimed in Claim 6, wherein said second transmitting means comprises at least an endless chain mechanism.
References Cited (Backward Citations)
No citation records indexed.
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