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1. (WO2017060212) ROBOT ARM

Pub. No.:    WO/2017/060212    International Application No.:    PCT/EP2016/073621
Publication Date: Fri Apr 14 01:59:59 CEST 2017 International Filing Date: Wed Oct 05 01:59:59 CEST 2016
IPC: G05B 19/423
Applicants: KASTANIENBAUM GMBH
Inventors: HADDADIN, Sami
Title: ROBOT ARM
Abstract:
The invention relates to a robot arm with a number N of arm components An, which can be connected to a robot body via a number N of actuator-drivable joint connections GVn, where n = 1, 2, ..., N, wherein: the distal arm component AN of the robot arm is connected by it's proximal end to the arm component AN-1 via the joint connection GVN; the proximal arm component can be connected by its proximal end to the robot body via the joint connection GV1; the joint connection GVN permits a rotation of the arm component AN about a rotational axis DN; the arm component AN of the robot arm extends along an axis L1 and the axis L1 encloses an angle of between 50° and 130° with the rotational axis DN; the distal end of the arm component AN can be connected to an actuator E via an actuator-drivable joint connection GVN+1, wherein the joint connection GVN+1 permits a rotation of the actuator E about a rotational axis DN+1, wherein the the rotational axes DN and DN+1 enclose an angle W1 in the region of 50° to 130°; the rotational axis DN+1 and the axis L1 enclose an angle W2 in the region of 50° to 130°; and a protrusion F2 is formed on the actuator E or on an intermediate part ZW arranged between the joint connection GVN+1 and the actuator E, which protrusion extends perpendicular to the rotational axis DN+1, can be gripped by a hand and is also rigidly connected. The robot arm according to the invention permits a more sensitive and precise operation in the offline programming of a robot having a robot arm of this type.