Abstract: An industrial robot is disclosed which includes three primary drive units defining three separately controlled axes of movements, an inner arm connected to the output of one of the drive units, and an outer arm pivotally connected to the inner arm. The outer arm is connected to another of the drive units by a transmission which extends through the inner arm so that the outer arm may be selectively rotated, and both the inner arm and the outer arm are counterbalanced by a pair of torsion coil springs which are operatively connected to their respective drive units.

Abstract: An industrial robot is disclosed which is movable about six revolute axes, and which is modular in nature, to permit it to be configured to efficiently operate in a number of different applications. The robot includes a support stand defining a first primary axis, a waist which is rotatable about the first axis and which defines a second primary axis disposed perpendicular to the first axis, an inner arm fixed to the waist for rotation about the second axis, an outer arm fixed to the inner arm for relative rotation about a third primary axis, and a hand assembly mounted at the end of the outer arm. In addition, the outer arm includes a simplified drive arrangement composed of three concentric tubular members and respective drive motors, for moving the hand assembly of the robot about three additional axes of movement.

Abstract: An industrial robot is disclosed which includes three primary drive units defining three separately controlled axes of movement, and an outer arm assembly having three additional drive units for providing three additional axes of movement. The three primary drive units each include an electrical motor which has its rotor and stator each coaxially disposed about the axis of movement, so as to eliminate the need for any torque converting drive train between the motor and output components. The three drive units of the outer arm assembly comprise three electrical motors, and these three motors are serially mounted, with the rotors and stators thereof being coaxially disposed about a common axis, and with the rotors being fixed to respective ones of three coaxially mounted tubular members, which serve to transmit movement to the workpiece engaging gripper of the robot.