A robot includes a hollow arm extending from a robot base, a wrist base (3) mounted on a distal end of the hollow arm for rotation about a longitudinal axis of the hollow arm, a wrist (4) mounted on a distal end of the wrist base (3) for swinging movement about an axis (d) transverse to the longitudinal axis, and a wrist socket (5) mounted on a distal end of the wrist (4) for rotation about an axis parallel to the longitudinal axis (c). The robot also includes first, second, and third (16) actuators such as motors. The first actuator is fixedly mounted on a rear end of the arm remotely from the wrist base (3) and produces rotational drive forces that are transmitted to rotate the wrist base (3). The second actuator is fixedly mounted on the rear end of the arm and produces rotational drive forces that are transmitted to swing the wrist (4). The third actuator (16) is fixedly mounted on the wrist (4) and produces rotational drive forces that are transmitted to rotate the wrist socket (5). <IMAGE>
Robot with wrist actuator mechanism