NASA NTRS · 19920000480
Dual-Roll Robotic Wrist-Joint Assembly
Abstract
Compact robotic wrist-joint assembly includes two motor subassemblies providing two concentric output rotations about axis of wrist: outer output flange on front face of assembly rotated to, and held at, any predetermined roll angle within range of plus or minus 180 degrees, and inner output flange concentric with outer output flange capable of unlimited rotation relative to outer flange. Each motor subassembly includes concentric rotor and stator and harmonic drive.
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Vranish, John M., Richards, Paul W., Spidaliere, Peter D.. 1992-08-01. Dual-Roll Robotic Wrist-Joint Assembly. https://ntrs.nasa.gov/citations/19920000480
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