Two-axis non-singular robotic wrist

This invention describes a robotic wrist that allows a movable part to tilt up and down (pitch) and turn side to side (yaw) relative to a fixed base. It achieves this smooth, non-sticking motion using two parallel sets of mechanical links, specifically a Revolute-Universal (RU) linkage and a Revolute-Spherical-Revolute (RSR) linkage, as specified in the claims. The design ensures that any pitch and yaw movement results in a specific, predictable roll angle, similar to how a constant-velocity joint works.

Why it matters: Filed before widespread additive manufacturing and advanced kinematic simulation tools. These now simplify the design and fabrication of the complex, precise linkages required for such a non-singular wrist.

Status: Not in forceListed as no longer active. The specific reason is not in the record we hold.
How hard to build: SpecializedCustom linkages, precision joints, kinematic design

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