Abstract: A robot wrist with two articulation axes has a first body which is carried at the distal end of the robot arm, a second body which is supported by the first body for rotation about a first axis which intersects the longitudinal axis of the robot arm at right angles, and a third body which is supported by the second body for rotation about a second axis which intersects the first axis at right angles. The second and third bodies are rotated by two electric motors which are mounted on the first body and the second body respectively, with the interposition of "Harmonic Drive" reduction units of the type in which the output rotor is supported for rotation by a load-bearing element which forms part of the reduction unit.

Abstract: A device for supporting and adjusting a mirror in a laser-robot system including a plurality of mirrors which reflect a laser beam in succession along a predetermined path to a head for emitting the laser beam includes a mirror-holder, a member which supports the mirror-holder for rotation about a center of rotation which lies on the reflecting surface of the mirror, and a mirror adjustment unit with first adjustment means for rotating the mirror holder about a first axis which passes through the center of rotation and second adjustment means for rotating the mirror-holder about a second axis which intersects the first axis perpendicularly at the center of rotation.