Abstract: A robot according to an embodiment includes a lower arm, an upper arm, a wrist, and an actuator that rotationally drives the wrist. The upper arm is connected to the lower arm rotatably about a first rotation axis. The wrist is connected to the upper arm rotatably about a second rotation axis perpendicular to the first rotation axis. The actuator is disposed so that a rotation axis of the actuator is perpendicular to the second rotation axis and is attached to the upper arm so as to extend in a direction of the first rotation axis.

Abstract: A robot includes a first actuator, a first rotating body, a second actuator, and a second rotating body. The first actuator rotationally drives a second wrist that is connected to a first wrist. The first rotating body transmits a drive force of the first actuator to a second wrist. The second actuator rotationally drives a third wrist that is connected to the second wrist. The second rotating body transmits a drive force of the second actuator to the third wrist. The first rotating body and the second rotating body are arranged at positions where rotation axes of the first and second rotating bodies are parallel with each other and do not interfere with each other in such a manner that the position of the first rotating body is within a range of the second rotating body when viewed from a direction perpendicular to the rotation axis of the second rotating body.

Abstract: A robot according to an embodiment includes a first link, a second link, an actuator, and an external gear. The second link is rotatably connected to the first link. The actuator rotationally drives the second link. The external gear is connected to the actuator. The second link includes an internal gear engaged with the external gear.

Abstract: A rotary coupling for a multi-axial robot hand (19) is provided with a rotatable hand housing (20) and an output element (21) that is rotatable on said housing. The rotary coupling (62) includes connections (65, 66, 68) for the output element (21), a tool (23) and an accessory unit (30). The tool (23) and the accessory unit (30) can be rotated relative to each other, and the accessory unit (30) can be coupled to the hand housing (20) or to the tool (23) or to the output element (21) via the rotary coupling (62). The rotary coupling (62) is provided for an application device (11) which is used to apply a sealant (8) on a lock seam (7) of an add-on piece (4) of a vehicle body (3).

Abstract: A substrate transport arm including a plurality of links rotatably connected to each other in series; and a system for maintaining radial orientation of a third one of the links regardless of a rotational angle of first and second ones of the links relative to each other. The system for maintaining radial orientation includes a four-bar linkage.

Abstract: A robot includes a base, an arm portion, and a wrist portion with a multi-joint structure. The wrist portion includes a first wrist element, a second wrist element, a third wrist element, a first bevel gear set, and a second bevel gear set. The first wrist element is supported around a first axis line orthogonal to a longitudinal direction of the wrist portion. The second wrist element is supported swingably around a second axis line orthogonal to the longitudinal direction of the wrist portion. The third wrist element is supported rotatably around a third axis line along the longitudinal direction of the wrist portion. The first bevel gear set is configured to reduce a rotation speed of a first driving motor driving the first wrist element. The second bevel gear set is configured to reduce a rotation speed of a second driving motor for driving the second wrist element.

Abstract: The invention relates to a device for moving and positioning an object in space, having at least three actuator arms each connected to a motor/drive unit and pivotable about a motor/drive axis. The free end of each actuator arm is jointedly connected by connecting rods to a support element having at least one gripping device that can be connected to a vacuum source via a vacuum hose. The gripping device is provided with a suction opening for suctionally gripping the object. According to the invention, the vacuum hose is guided by the support element to the motor/drive axis of one of the motor/drive units, and can be connected to the vacuum source by a rotatable hose joint disposed substantially in the motor/drive axis and rotatable about the motor/drive axis.

Abstract: Disclosed herein are embodiments of an articulated robot wrist. One embodiment comprises a first body comprising first and second ends, the first end being for mounting on a robot component which is rotatable around a first axis; a second body comprising first and second ends, the first end being rotatably mounted on said second end of said first body around a second axis inclined with respect to said first axis; and a third body comprising a first and a second end, the first end being rotatably mounted on said second end of said second body around a third axis inclined with respect to said second axis. The first and third axes form an angle substantially of 90° with respect to said second axis, and wherein in at least one position of said robot wrist said first and third axes are substantially aligned with each other.

Abstract: An articulated surgical instrument for enhancing the performance of minimally invasive surgical procedures. The instrument has a high degree of dexterity, low friction, low inertia and good force reflection. A unique cable and pulley drive system operates to reduce friction and enhance force reflection. A unique wrist mechanism operates to enhance surgical dexterity compared to standard laparoscopic instruments. The system is optimized to reduce the number of actuators required and thus produce a fully functional articulated surgical instrument of minimum size.

Abstract: A robot arm assembly with tubes or pipes carrying fluids or electrical cables which do not get bent and are relatively straight, and are not disrupted by, the moving parts of the robot arm includes a first robot arm, a second robot arm, a third robot arm, and a flexible carrying tube. The second robot arm includes a first axle base, a first input shaft, a first bevel gear, and a second bevel gear. The flexible tube is inserted into the first bevel gear and the second bevel gear along a first axis, and fixed to the output shaft.

Abstract: A multiple joint robot includes a wrist part provided with a reduction gear unit capable of receiving an end effector and of transmitting power to the end effector. The reduction gear unit includes a fixed part fixed to the wrist part by means of a fixing element, a rotational part rotatable relative to the fixed part, and a sealing element provided in a circumference of the rotational part. There is a cover at the fixed part of the reduction gear unit, and the fixing element and the sealing element are covered by the cover. The cover is provided to flatten a convex portion or a concave portion formed by the fixing element.

Abstract: A robot arm includes a wrist, an end effector, and an adjustable joint coupling the end effector to the wrist. The adjustable joint includes a member received in a socket. In one example, the member is a ball. In another example, the member is a tang. In both examples, an upper flange and a lower flange can be used to couple the wrist to a forearm.

Abstract: Boom drive apparatus for substrate transport systems and methods are described. The boom drive apparatus is adapted to drive one or more multi-arm robots rotationally mounted to the boom to efficiently put or pick substrates. The boom drive apparatus has a boom including a hub, a web, a first pilot above the web, and a second pilot below the web, a first driving member rotationally mounted to the first pilot, a second driving member rotationally mounted to the second pilot, a first driven member rotationally mounted to the boom above the a web, a second driven member rotationally mounted to the boom below the a web, and a first and second transmission members coupling the driving members to driven members located outboard on the boom. Numerous other aspects are provided.

Abstract: A hybrid robotic manipulator adapted to move objects includes a base and a waist mounted on the base. The waist is configured to rotate on the base. The hybrid robotic manipulator further includes a pair of arms mounted on the waist. Each arm includes an upper arm, a forearm serially coupled to the upper arm at an elbow, and a wrist configured to couple the pair of arms at a distal end through a pair of connecting elements. The wrist further includes an end-effector mounted thereon and configured to grip the object and move the object to a desired position.

Abstract: A wrist unit of an industrial robot including an eccentric rocking-type reduction gear. The eccentric rocking-type reduction gear includes a hollow forming part forming a hollow part along the rotation center axial line; a through shaft supported rotatably at the hollow forming part and passing through the hollow part to transmit a rotation from the third wrist drive motor from a first wrist element side to a second wrist element side; a plurality of crankshafts arranged around the through shaft and having input gears at ends of the side of the first wrist element; and a gear member provided rotatably centered about the rotation center axial line, the gear member having a first gear to which a rotational force from the second wrist drive motor is input and a second gear with which the input gears of the plurality of crankshafts engage.

Abstract: An multi-axis transmission includes a frame, a motor, a housing, a first output mechanism, a second output mechanism, and a output control mechanism. The motor is secured to the frame, the motor includes a rotary shaft. The housing is axially slidably attached to the frame. The first output mechanism is secured to the frame. The second output mechanism is rotatably attached to the housing. The output control mechanism is secured to the rotary shaft, the output control mechanism is selected to engage the first output mechanism to output a first movement or to engage the second output mechanism to output a second movement angular with the first moment.

Abstract: A robotic arm assembly includes a first segment, a second segment, a first driving device, a first transmission mechanism, a second driving device, and a second transmission mechanism. The second segment is rotatably connected to the first segment. The first driving device drives the second segment to rotate about a first axis relative to the first segment via the first transmission mechanism. The second transmission mechanism includes a first bevel gear and a second bevel gear meshed with the first bevel gear. An output shaft is fixed to the second bevel gear, and the output shaft is capable of rotating about a second axis. Each of the second segment, the output shaft, and the second bevel gear defines a guiding hole, and the guiding holes are aligned in the second axis.

Abstract: An industrial robot has a robot arm with a linkage and an arm extension that is pivotable at the linkage. The arm extension has an arm enclosure that is pivotable at the linkage. The arm extension has a primary hand enclosure that can rotate, means of a first actuator that has a first drive shaft, at the arm enclosure around an arm axle extending in the longitudinal dimension of the arm extension. The arm extension has a first-hand element that is adjustable around a first-hand axle relative to the primary hand enclosure by means of a second actuator that has a second drive shaft, and a second-hand element that is adjustable around a second-hand axle relative to the first-hand element by means of a third actuator that has a third drive shaft. The first, second and third actuators are arranged in the primary hand enclosure with their respective drive shafts extending essentially parallel to and at a distance from the arm axle.

Abstract: The invention relates to a robot arm of an industrial robot. The robot arm includes a flange provided to secure an end effector and several sequentially-positioned members connected by means of links, of which one of the members is mounted immediately before the flange, and the flange is mounted to rotate with respect to an axis relative to this member. To adjust the flange with respect to the member mounted immediately before the flange, the robot arm comprises an adjustment device that includes a base carrier is detachably attachable to the flange particularly by means of screws, with an adjustment means disposed on the base carrier that interacts with a counter-adjustment means disposed on the member mounted immediately before the flange.

Abstract: A wrist assembly (311) for a robotic arm or other mechanical device is provided. The wrist assembly comprises a first arm (313) which terminates in a first radius (317), a second arm (315) which terminates in a second radius (319), and a first band (331) that is devoid of weld joints and the extends around a portion of each of said first and second radii.

Abstract: Electronic device processing systems and robot apparatus are described. The systems and apparatus are adapted to efficiently pick or place substrates into twin chambers by having independently rotatable first and second booms, and independently rotatable first and second upper arms, wherein each upper arm has a forearm, a wrist member, and an end effector adapted to carry a substrate coupled thereto. The boom members and upper arms are driven through co-axial drive shafts in some embodiments. Co-axial and non-coaxial drive motors are disclosed. Methods of operating the robot apparatus and processing systems are provided, as are numerous other aspects.

Abstract: A flexible wrist-type element, comprising: a base housing extending along a first longitudinal axis towards a base end; an operational housing extending along a second longitudinal axis towards an operational end; an operational element moveably connected to the operational housing; a joint assembly movably connecting the base housing and the operational housing; wherein the joint assembly allows relative movement of the operational housing and the base housing between a first position and a second position, wherein a point of intersection between the second longitudinal axis and the first longitudinal axis moves during movement between the first position and the second position; a driver assembly moveably supported by the base housing and the operational housing; and wherein the driver assembly is configured to actuate the operational element relative to the operational housing.

Abstract: Systems and methods are described for fixed rotational positioning of a robotic hand assembly using mechanical wrist locking techniques. A wrist is configured to rotate the hand assembly and point grip components in a desired direction (e.g., for pick and place operations). Tolerances of components of the wrist can accumulate to manifest rotational positioning error. Embodiments include wrist locking techniques for locking the wrist in a desired rotational position. Some implementations couple grip components with wrist lock components in such a way that movement of the grip components causes the wrist lock assembly automatically to move between locked and unlocked states. For example, retracting the grip components pushes a wrist lock latch into an unlocked position (allowing the wrist to rotate). Extending the grip components allows the latch to move to a locked position where it interlocks with an alignment feature to lock the wrist into an accurate, predetermined angle.

Abstract: A robot arm assembly includes a support arm, and the support arm includes a mounting base and a connecting portion defining a hollow portion. The robot arm assembly further includes a first arm, a second arm, a first input shaft, a second input shaft coaxial with and rotatable relative to the first input shaft, a first gear transmission mechanism coupled to the first input shaft to rotate the first arm, a second gear transmission mechanism coupled to the second input shaft to rotate the second arm, and a first backlash adjust mechanism to adjust the positions of the connecting portion, of the first and second input shafts relative to the mounting base, and providing the adjustment of the backlash between the first input gear pair and the second input gear pair.

Abstract: A clamp replacing apparatus includes a robot arm, a clamp and a connecting assembly configured for detachably connecting the clamp to the robot arm. The connecting assembly includes a first rotator and a second rotator. The first rotator is fixed to the robot arm and comprises a number of first locking portions each defining a receiving groove. The second rotator is fixed to the clamp and comprises a number of second locking portions corresponding to the first locking portions and each defining a bolt portion. The bolt portion can be received in the corresponding receiving groove or escaped from the receiving groove.

Abstract: The invention relates to a manipulator (1) comprising a plurality of members (12, 14) connected to each other by joints (A1-A6) that can be adjusted by drives (M1-M6), and a counterweight device (15) associated with one of the joints (A1-A6) and comprising a rod (19) coupled to a first member (12) connected to the joint (A1-A6) on one side and connected to a spring device (26) supported on a seat (25) on the other side, said seat being coupled to a second member (14) connected to the joint (A1-A6) by means of at least one bearing arrangement (18), comprising a first bearing component (17) and a second bearing component (16) connected to the second member (14). The seat (25) is connected to the first bearing component (17) by means of at least one cantilevered arm (23, 24).

Abstract: A robotic surgical tool includes an elongate shaft having a working end and a shaft axis, and a pair of linking arms each having a proximal end and a distal end. The proximal end is pivotally mounted on the working end of the shaft to rotate around a first pitch axis to produce rotation in first pitch. A wrist member has a proximal portion pivotally connected to the distal end of the linking arm to rotate around a second pitch axis to produce rotation in second pitch. An end effector is pivotally mounted on a distal portion of the wrist member to rotate around a wrist axis of the wrist member to produce rotation in distal roll. The wrist axis extends between the proximal portion and the distal portion of the wrist member. The elongate shaft is rotatable around the shaft axis to produce rotation in proximal roll. At about 90° pitch, the wrist axis is generally perpendicular to the shaft axis. The proximal roll around the shaft axis and the distal roll around the wrist axis do not overlap.

Abstract: A ball bearing having external surfaces coated with ceramic materials is provided. The raceways of the ball bearing may advantageously be formed of metal such as stainless steel. The ceramic coating acts as an insulator increasing the resistance of the ball bearing to heat within the ball bearing environment. The balls within the raceway of the ball bearing may advantageously be coated with a lubricant to decrease friction in the ball bearing because the insulating ceramic coating prevents the environmental heat from causing the degradation of the lubricant.

Abstract: A robot has a structure in which finger joints do not interfere with each other. The robot includes a first actuator driving the finger joint, a first power transmission, a second actuator driving the finger joint, and a second power transmission. The first actuator and the first power transmission are coupled with a wrist joint so that the position of the first actuator and the first power transmission is changed. Accordingly, even if the wrist joint operates, the distance between the first actuator and the finger joint is constantly maintained.

Abstract: A wrist housing, a wrist rotatably connected to the wrist housing, a first driver, a first transmission mechanism, a rotary member, a second driver, and a second transmission mechanism makes a robot arm assembly. The wrist housing is hollow. The first driver is assembled within the wrist housing for driving the wrist to rotate relative to the wrist housing along a first rotary axis. The first transmission mechanism is also assembled within the wrist housing and is positioned between the wrist and the first driver. The rotary member is rotatably assembled to a distal end of the wrist along a second rotary axis. The second driver is assembled within the wrist housing for driving the rotary member to rotate. The second transmission mechanism is assembled within the wrist housing, and is positioned between the second driver and the rotary member.

Abstract: A manipulator has a treating portion, a driving portion which are connected by a connecting portion, a first pulley on which a first wire which passes through inside of the connecting portion and is driven by the driving portion is hung for rotation, and a main shaft portion which rotatably supports the treating portion around a main shaft along a direction different from a first rotor axis that the first pulley rotates, one end portion of which is fixed to the first pulley.

Abstract: The present invention relates to a method and a device for the machining of an object using a tool, in which the tool (2) or the object (18) is guided using a handling apparatus, which has multiple movement axes for the coarse positioning of the tool (2) or object (18), which form a kinematic chain. In the method, an additional actuator (3), which has a higher positioning precision in at least one dimension or axis than the other movement axes, is inserted between a terminal link (1) of the kinematic chain and the tool (2) or object (18). A relative movement of the tool (2) or terminal link (1) of the kinematic chain to the object (18) is detected using at least one sensor (5) and a deviation from a target movement path is compensated for using the additional actuator (3). The method and the associated device allow the use of robots or other handling apparatuses having lower path precision for applications which require a high precision during the guiding of the tool.

Abstract: A hexapod platform and a jack that can be used in the hexapod platform are provided. The jack includes a body, a piston capable of translational movement with respect to the body and a rod connected to the piston to follow its translational movement and by means of which the jack applies load. The rod is connected to the piston by means of a ball joint. The hexapod platform comprises six jacks according to the invention.

Abstract: A robot is provided which includes (a) a first arm (313) terminating in a first radius (317); (b) a second arm (315) terminating in a second radius (319), wherein said second radius is spaced apart from said first radius; (c) a first band (331) that extends around a portion of said first radius; (d) a second band that extends around a portion of said second radius; and (e) a first rigid, longitudinally extending element (709) having a first end which is attached to said first band, and having a second end which is attached to said second band.

Abstract: A robot arm includes a wrist body, an arm body, a first shaft, a first driving mechanism, a second shaft and a second driving mechanism. The arm body includes an installation wall and a mounting cylinder connecting with an installation portion of the installation wall. One end of the installation wall is connected with the mounting cylinder. The first shaft is received in the mounting cylinder; the first driving mechanism is mounted on the installation wall for driving the first shaft to rotate, The second shaft is received in the mounting cylinder and rotatably sleeves on the first shaft. The second driving mechanism is mounted on the installation wall and spaced from the first driving mechanism for driving the second shaft to rotate.

Abstract: Electronic device processing systems and robot apparatus are described. The systems are adapted to efficiently pick or place a substrate at a destination by independently rotating an upper arm, a forearm, a first wrist member, and a second wrist member relative to each other through co-axial drive shafts. Methods of operating the robot apparatus are provided, as are numerous other aspects.

Abstract: A wrist assembly is provided for securing an end effector to a robotic arm. The wrist assembly comprises a first portion (205, 207) containing a slot for releasably engaging an end effector (231), and a second portion (203) which is attached to the first portion. The orientation of the first portion with respect to the second portion is adjustable to impart a leveling effect to the end effector.

Abstract: A robot arm assembly includes a first robot arm and a second robot arm rotatably connected to the first robot arm. The first robot arm includes a first sleeve, a first input shaft, and a second input shaft. The first input shaft and the second input shaft are seated in the first sleeve. The second robot arm includes a second sleeve and an output shaft received in the second sleeve. The first input shaft is connected to the second sleeve via a pair of bevel gears, and drives the second sleeve to rotate relative to the first sleeve. The second input shaft is connected to the output shaft via at least two pairs of bevel gears, and drives the output shaft to rotate relative to the second sleeve.

Abstract: A joint assembly for releasably securing a first and a second segment of an associated modular limb is provided. The joint assembly includes a male connector including a base and a load bearing blade secured to the base of the male connector protruding therefrom. The male connector is adapted to be secured to one of the first and second segments of the associated modular limb. A female connector is provided and includes a base and a load bearing socket secured to the base of the female connector. The socket is configured to selectively receive the blade of the male connector. The female connector is adapted to be secured to the other of the first and second segments of the associated modular limb. A locking member selectively retains the blade of the male connector in the socket of the female connector. The male connector, the female connector, and the locking member cooperate to form a resilient and selectively releasable modular limb joint.

Abstract: The lower arm assembly for a humanoid robot includes an arm support having a first side and a second side, a plurality of wrist actuators mounted to the first side of the arm support, a plurality of finger actuators mounted to the second side of the arm support and a plurality of electronics also located on the first side of the arm support.

Abstract: An articulated surgical instrument for enhancing the performance of minimally invasive surgical procedures. The instrument has a high degree of dexterity, low friction, low inertia and good force reflection. A unique cable and pulley drive system operates to reduce friction and enhance force reflection. A unique wrist mechanism operates to enhance surgical dexterity compared to standard laparoscopic instruments. The system is optimized to reduce the number of actuators required and thus produce a fully functional articulated surgical instrument of minimum size.

Abstract: A coupler to provide controller motion from a robotic manipulator includes a pin having a tip with a spherical bearing surface and a plate supported on the spherical bearing surface of the pin with two degrees of rotational freedom about the center of the spherical bearing surface. The plate has a back surface and an opposing driving surface that bears against a first surface of an inner gimbal of a gimbal assembly of a driven device. The plate includes a pin receiving portion that extends outwardly from the driving surface and away from the back surface. The pin receiving portion includes a spherical receiving surface to receive the spherical bearing surface of the pin. The spherical bearing surface is located at a distance above the driving surface such that the center of the spherical bearing surface coincides with an intersection of the gimbal assembly axes of the driven device.

Abstract: The present invention discloses a weight compensation mechanism installed at a rotatable three-degree-of-freedom link member, wherein a first rotation of the link member is a yaw rotation aligned with the direction of the gravity and second and third rotations of the link member are respectively a roll rotation and a pitch rotation, wherein the second and third rotations are restrained by a plurality of differential bevel gears, and wherein a pair of cam plates is fixed to shafts of a pair of rotary bevel gears in the plurality of differential bevel gears, and a one-degree-of-freedom weight compensator is provided to be connected to the cam plates.

Abstract: The invention concerns a kinematic device for supporting and programmably moving a terminal element. The platform (11) bearing the terminal element (12) is linked by four swivel joints (9) and (10) with two legs each consisting of two support rods (7) or (8) forming deformable parallelograms mounted each on slides (3) or (4) mobile in the x direction. The pivot plate (29) articulated on the platform (11) about the hinge pin (30) is controlled by the control rods (27), controlling pivoting (14) and lateral displacement (18) connected respectively by the swivel joints (26, 13 and 17) to the slides (3, 12 and 26). It consists in a parallel kinematics with four degrees of freedom, namely three translational and one rotational whereof the angle can be greater than 120°.

Abstract: A jointed arm has an upper arm member joined to a second shoulder member, a first forearm member joined to the upper arm member by a first bending and stretching mechanism, and a wrist member joined to the first forearm member by a second bending and stretching mechanism, the first forearm member has a first turning mechanism that rotates the second bending and stretching mechanism, a hand section is joined to the wrist member by a second turning mechanism, and the rotation axes of the first and second turning mechanisms are offset. The upper arm member has a housing recessed portion that houses part of the first forearm member, part of the first turning mechanism, and part of the second bending and stretching mechanism in a state in which the first forearm member bends toward the upper arm member and the wrist member bends toward the first forearm member.

Abstract: This drive apparatus includes a first rotation mechanism portion including a first driven gear portion rotated by a first drive gear portion rotating about a first axis and a second rotation mechanism portion including a second driven gear portion rotated by a second drive gear portion rotating about the first axis.

Abstract: A bidirectional tendon terminator that has particular application for terminating a tendon that actuates a finger in a robotic arm. The tendon terminator includes a cylindrical member having an internal channel through which a single continuous piece of the tendon extends. The internal channel of the tendon terminator includes a widened portion. A ball is placed in the tendon strands, which causes the tendon to expand, and the ball is positioned within the widened portion of the channel. Pulling on the tendon operates to either open or close the finger of the robotic arm depending on which direction the tendon is pulled. In one specific embodiment, the cylinder includes two cylindrical pieces that are coupled together so that the ball can be positioned within the channel and the cylindrical member has an entire circumference of material.

Abstract: A displacement member can be displaced in a direction substantially perpendicular to a moving direction of a translation member that is held on a base member so as to reciprocatingly move thereon linearly, and an elastic mechanism secured to the base member accumulates and releases elastic energy in accordance with the distance to the displacement member. Protruding members of the translation member are pressed against a transmission member by generated force provided by the energy release from the elastic mechanism; thus, a distance adjusting operation between coupling mechanisms coupling the transmission member and the displacement member is controlled by a control device so that the relative position and relative angle between the displacement member and the transmission member are changed.

Abstract: Disclosed herein are embodiments of an articulated robot wrist which can comprise a first body comprising a first and a second end, said first end being intended to be mounted on a robot component that is rotatable around a first axis; a second body comprising a first and a second end, said first end being rotatably mounted on said second end of said first body, around a second axis inclined with respect to said first axis; and a third body comprising a first and a second end, said first end being rotatably mounted on said second end of said second body, around a third axis inclined with respect to said second axis, wherein said first and third axes are both substantially orthogonal to said second axis, and wherein in at least one position of said robot wrist said first and third axes are substantially aligned with each other.

Abstract: Disclosed herein are embodiments of an articulated robot wrist. One embodiment comprises a first body comprising first and second ends, the first end being for mounting on a robot component which is rotatable around a first axis; a second body comprising first and second ends, the first end being rotatably mounted on said second end of said first body around a second axis inclined with respect to said first axis; and a third body comprising a first and a second end, the first end being rotatably mounted on said second end of said second body around a third axis inclined with respect to said second axis. The first and third axes form an angle substantially of 90° with respect to said second axis, and wherein in at least one position of said robot wrist said first and third axes are substantially aligned with each other.