TIP-WRIST DEVICE AND ROBOT ARM APPARATUS

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TIP-WRIST DEVICE AND ROBOT ARM APPARATUS

This abstract first appeared for US patent application 20240408772 titled 'TIP-WRIST DEVICE AND ROBOT ARM APPARATUS

Original Abstract Submitted

a tip-wrist device according to an embodiment of the present disclosure includes: a first actuator that uses a yaw axis as its rotation axis; a second actuator that uses a pitch axis as its rotation axis; a third actuator that uses a roll axis as its rotation axis; and a torque transmitter. the first actuator, the second actuator, and the third actuator are disposed from an elbow side toward a hand side in this order. the torque transmitter causes, as the second actuator is driven, torque to occur that causes the third actuator to use, as its rotation axis, and rotate around a virtual axis that is parallel to the pitch axis.