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This is a record of a document published elsewhere, first published by the United States Patent and Trademark Office, as US-4904148-A, on 27 February 1990. OpenTechnical did not first disclose it. The identifier, hashes and timestamps below record what this library served and when, not when the material became public. View the original.

OT-2026-000003467

Robot arm for an industrial robot

Published
Permanent URL
Classification
Robotics & Automation › Robot Architectures
Inventors
LARSSON OVE
Assignee
KOMATSU MFG CO LTD
Original source
US-4904148-A, the United States Patent and Trademark Office, 27 February 1990
Document SHA-256
c794071bbdbdf376dfa4e81f89c0e183df81f9c7601d8ec7c1c8d202083cb2d2

A robot arm usable for an industrial robot adapted to freely bend to realize a pattern of movement having a high ability of movement, excellent reachability and high accuracy by virtue of a comparatively small amount of rotational movement and a comparatively large amount of translational movement. The robot arm has cylindrical arm portions (14, 15, 16) flexibly connected to one after another via joints, and the arm portions comprise one upper arm (14), at least one intermediate arm (15) and one lower arm (16). An arm portion which belongs to a certain joint is formed with joint faces (21) which are inclined with respect to a longitudinally extending axis (29). A joint axis (22) of this joint extends at a right angle with respect to each of the joint faces (21). Each of the arm portions is freely turnable about the joint axis (22) independently of adjacent one or plural arm portions. Additionally, inclined joint faces located at opposite ends of the intermediate arm are formed in such a manner that their extensions intersect one another at a position located outwardly of the outer boundary of the intermediate arm.

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Abstract

A robot arm usable for an industrial robot adapted to freely bend to realize a pattern of movement having a high ability of movement, excellent reachability and high accuracy by virtue of a comparatively small amount of rotational movement and a comparatively large amount of translational movement. The robot arm has cylindrical arm portions (14, 15, 16) flexibly connected to one after another via joints, and the arm portions comprise one upper arm (14), at least one intermediate arm (15) and one lower arm (16). An arm portion which belongs to a certain joint is formed with joint faces (21) which are inclined with respect to a longitudinally extending axis (29). A joint axis (22) of this joint extends at a right angle with respect to each of the joint faces (21). Each of the arm portions is freely turnable about the joint axis (22) independently of adjacent one or plural arm portions. Additionally, inclined joint faces located at opposite ends of the intermediate arm are formed in such a manner that their extensions intersect one another at a position located outwardly of the outer boundary of the intermediate arm.

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Publication information

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Citation

OpenTechnical Publication OT-2026-000003467, “Robot arm for an industrial robot,” published September 15, 2026 at 20:31:23 UTC, https://opentechnical.org/p/OT-2026-000003467.

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This record reproduces a document published elsewhere and is provided for reference and study. Rights in the original remain with its owner. See the publication policy.