Abstract: A robotic loader for machinery includes an elongate column configured for being fixedly secured to a support structure or surface. A first motor is attached to the end of the column. The first motor drives a first gearbox. A first arm is fixedly secured to the first gearbox and extends perpendicularly relative to the column. The first arm is rotated in a horizontal plane when the first motor drives the first gearbox. A second motor is attached to the end of the first arm. The second motor drives a second gearbox. A stub arm is attached to the second gear box. The stub arm is parallel with the first arm. The stub arm is rotated in a horizontal second plane when the second motor drives the second gearbox. A third motor is attached to the stub arm and drives a third gearbox. A link arm is attached to the third gearbox and extends therefrom in a parallel manner relative to the first arm. The link arm is rotated in a vertical plane when the third motor drives the third gearbox.

Abstract: A robot 100 has a pedestal 1, upper and lower arms 5, 12 and a quill 21. A drive train comprises motors in the pedestal 100 coupled to three concentric drive tubes 3, 6, 9. The outer drive tube is coupled to the upper arm 5. Driven tubes 11, 14 extend from the upper arm 5 to the lower arm 14. A twisted belt in the lower arm couples the driven tube 14 to the quill 21. The articulator 400 has three housings 21, 44,45; 61,61a each with an axis of rotation transverse to the its neighbors. Brakes A, B, and C selectively lock two housing together to rotate the third housing.