Abstract: A system for handling sheep during automated shearing comprising a multiplicity of trolley/cradles T including rollers 16 and 17 for supporting the sheep, and front leg clamping bars 11 and 12, a head clamping bar 13 and rear clamping bars 20 and 21, each of which is releasably mounted on the trolley in a manner which enables selective release thereof whereby the front legs and head and the rear legs of the sheep and independently manipulatable by manipulating means 31, 40 and 41 located at a shearing station, and means FIG. 1 for transporting each trolley T from a loading station to a shearing station and from the shearing station to an unloading station whereby the sheep may be shorn in an automated manner.

Abstract: A wrist mechanism suitable for robotic manipulators comprising a first actuator for rotating a first yoke about a first axis, a first crossed shaft carried by the yoke, a second actuator for pivoting the first crossed shaft about a second axis, a second crossed shaft carrying a second yoke, an actuator means for causing rotation of the wrist mechanism about a third axis, highly rigid side plates supporting the first and second crossed shafts in bearings, highly rigid cross members rigidly interconnecting the side plates, and gears for transferring motion between the first and second crossed shafts to allow pivotal movement of an end effector carried by the second yoke in excess of 180.degree. about the second axis, and at least 180.degree. about the third axis, and rotation in excess of 200.degree. about the first axis.