Robotic manipulator

Abstract

An improved robotic manipulator of the type having a plurality of serially-connected drive shafts and a mounting surface affixed to one end thereof. The manipulator includes a first shaft rotatable about a first axis coincident with one ordinate of a mutually perpendicualr triordinate system and a first housing rotatable about that first axis, a second shaft rotatably mounted to said first shaft for rotation about a second axis obliquely oriented with respect to said first axis, and a second housing rotatable on the first housing about a second axis. Rotational movement is imparted to the second shaft about the second axis in accordance with rotational movement of a shaft rotatable about the first axis. A mounting surface has a centerline angularly oriented with respect to the second shaft, and a third shaft upon which the mounting surface is attached is rotatable about a third axis angularly oriented with respect to the second axis. An axis bearing cylinder is substantially immovably mounted on the second housing parallel to the second axis, with such axis bearing cylinder extending partially inwardly into the first housing and providing support for a gear cluster arrangement substantially independent support for a gear cluster arrangement produces a stiffer drive train, helps control backlash, and simplifies assembly.