The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.
The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.
Patent No.:
Date of Patent:
Apr. 01, 1986
Filed:
Mar. 01, 1983
Daniel P Soroka, Imperial, PA (US);
Mark S Stoutamire, Carnegie, PA (US);
Westinghouse Electric Corp., Pittsburgh, PA (US);
Abstract
A two-axis wrist module includes a roll part 14 rotatable about a first axis A--A driven by shaft 38 coupled through harmonic drive unit 42 functioning as a speed reducer and shaft 44, and a bend part 16 carried by the roll part for rotation about the axis B--B and driven by shaft 68 and shaft 72 coupled to the bend part by the second harmonic drive unit functioning as a speed reducer, the entire wrist module being self-contained in that the motor means for obtaining the two-axis movement is provided in the power enclosure 10 of the wrist module and independent of any powering transmitted mechanically to the wrist module.