JPH03501709A - Actuator for wrist joint joint - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

[Detailed description of the invention] Actuator for wrist joint joint Background of the invention Technical field The present invention relates to mechanical joints and robot wrist joints, particularly for pitching and lateral movements. This invention relates to a robot wrist joint that simultaneously performs rocking motion and yaw motion.

Description of prior art In recent years, interest in robotics and the use of robots in industrial fields has increased significantly. It is increasing. When a robot is used, the robot performs the welding process instead of a human. , handling materials, spraying paint, and assembling. In these tasks are required to work in confined spaces and perform complex movements.

To accomplish these tasks, robot arms and robot wrists must It is possible to perform rotary movements with the same degree of waiting time but also acceptable for specific tasks. It must be the.

Published in the United States on October 7, 1982 (author is the inventor) ``Robo Chic Age'' (Robo Mouth c AHe), pages 15-22. The chapter titled ``Wrist Actuators'' includes robot arms and robot hands. The development progress of the neck is described. This book contains instructions for enabling robot wrists. Some features are disclosed. One feature is that the robot wrist is equipped with a hydraulic actuator. Mechanical robot arms and robot wrists may pose an explosion hazard if activated by It can be used safely in places where However, conventional robot arms and robot hands The neck has several drawbacks, and these drawbacks, as mentioned in this book, Mechanical couplings are too large, have long latencies in certain rotational directions, and are mechanically inefficient. It is a bad thing, etc.

In 1971, Chemical Publishing Co., Ltd. (Cbemiea) of New York, USA beat group published by Pablisbing Company Inc. Mr. Grafstein (Fete Grafstein) and Mr. O. Schwartz (0 ``Victorian Handbook of Technical Design'' by Vice Is J (Pietorixl Eanlbook of Techni pages 16 and 17 of the book ``calDevices'' contain various known autographs. Current joints are disclosed. Through the universal joint shown on pages 16 and 17 of this book. However, universal joints can transmit pitching (pitching) and lateral motion to instruments and tools. Used for operations that transmit rolling and yawing motions. Can not.

U.S. Pat. No. 4,009,644 discloses a rotary actuator mechanism. It is. However, this rotary actuator can handle pitch, yaw, and roll motions. It is unsuitable for transmission to tools and equipment.

U.S. Patent No. 3,405,406 and U.S. Patent No. 4,046゜262. I'm disclosing my hand. These patent specifications state that many users wear spacesuits. Discloses a rigid spacesuit that allows for minimally unrestricted movement.

U.S. Pat. No. 3,912,172 discloses a direct drive hydraulic actuator with reverse drive capability. A pitch and roll actuator of the type is disclosed.

In the specifications of U.S. Patent Nos. 4,194,437 and 4,296°681, A hydraulic servomechanism is disclosed that provides rotational motion to a device to be driven.

U.S. Pat. No. 4,068,536 discloses a remotely driven mechanical manipulator. Disclosed. This manipulator has three concentric drive shafts terminating in a spherical wrist mechanism. controlled by the foot.

In the specifications of U.S. Patent No. 3,739,923 and U.S. Patent No. 3,784°031, Converts the rotational motion of the drive shaft into bending pitching motion and rotational swaying motion of the tool Manipulator arm with two parallel rotating drive shafts in bevel gearing is disclosed.

The mechanical wrist disclosed in West German Patent No. 2,752,236 is capable of pitching, Discloses three electric motors that provide roll and yaw; these motors The wrist is attached to the outside of the hollow housing and holds the welding tongs (scissors). Electrical wiring is placed inside the hollow housing to transmit power to the wrist. supply

U.S. Pat. No. 4,107,948 discloses that one end is connected to a driving means and the other end is connected to a driving means. Flexible with a number of interconnected rigid links connected to the tool to be rotated A robotic arm is disclosed. U.S. Patent No. 3,631,737 also describes The bot arm is revealed. This robot arm is designed to form an articulated arm. It has a plurality of rigid tubular members connected one after the other at their ends by flexible joints. child These tubular members are attached to each tubular member and can be selectively expanded or contracted. It is operated by a thin control cable.

Summary of the invention The present invention provides highly accurate and walk-through motion with non-specific movements. tbroBh) pitching motion, yaw, with the ability to reverse drive for programming An actuator for a robot wrist joint that enables simultaneous rolling and rolling movements. provide an evaluator.

The actuator includes first and second housing wall portions coaxially located with respect to each other. and first and second gimbals rotatably mounted inside the housing. and a le assembly. The first and second linkage means are connected to the first and second gimbals. movably connecting the assemblies and transmitting motion between the first and second gimbal assemblies; Ru.

First and second linearly actuated rondos are connected to the first and second linkage means, respectively. When the rods are pivoted and actuated linearly, the present invention provides pitching and yaw motion to the robot wrist joint. The rolling motion is , connects to one gimbal assembly and rotates both gimbal assemblies within the housing The movement is provided by a central support shaft.

In one embodiment, a linear motor provides rotary motion to the central support shaft and A flexible electric wire is provided to supply power to the motor without inhibiting the rolling motion.

Brief description of the drawing FIG. 1 is a perspective view of a joint of the present invention, partially cut away for clarity; FIG. 2 shows the gimbal assembly in the extended pitch axis position; FIG. cross-sectional view of the joint, Figure 3 is a cross-sectional view similar to Figure 2, but in the rotated pitching axis position. Figure 4 shows the gimbal assembly in the extended yaw axis position. A cross-sectional view showing the assembly; Figure 5 is a cross-sectional view similar to Figure 4, but in the rotated yaw axis position. Figure 6 shows the gimbal assembly. 1. Actuator for robot wrist joint. in the plane of the pitching axis, illustrating one embodiment of the drive train of the present invention for providing motion to t; A cross-sectional view of 7 is a cross-sectional view of the drive train of FIG. 6 in the plane of the yaw axis; FIG. 8 is a cross-sectional view of the drive train of FIG. A cross-sectional view in the plane of the yaw axis showing another embodiment, FIG. 9 is a perspective view showing another embodiment of the present invention, and FIG. 10 shows the bearing assembly of FIG. 9. FIG. 11 is a cross-sectional view showing the pail of the gimbal assembly in the first section.

DETAILED DESCRIPTION OF PREFERRED EMBODIMENTS An actuator for a robot wrist joint according to the present invention is shown at 10 in FIG. figure Like parts will be designated by like reference numerals throughout the aspects and examples. . The robot wrist joint actuator 1o of the present invention includes a housing 12, The first gimbal assembly 14, the second gimbal assembly 16, the drive train mechanism 18, and the It has a tool carrying member 20.

The housing 12 has a first or outer housing wall portion 22 and a second or inner wall portion 22. and a housing wall portion 24. The housing wall portions 22,24 extend along the solid shaft 26. are located coaxially with each other, and this solid shaft is the actuator for the robot wrist joint of the present invention. It extends through the tuator 10. The housing section 22.24 Relative rotation about central axis 26 is achieved by bearings 28 located between wall sections 22,24. I can roll. Bearings 28 hold the wall sections together and allow relative movement between the wall sections.

The first or forward gimbal assembly 14 is relative to the solid axis 26 along the axis of rotation 32. It has a rotating shaft 30 that is positioned substantially vertically. The front clevis assembly 34 is It has a front yoke 36 and a front clevis 38. The yoke 36 is attached to the screw 40. The arm of the clevis 38 is fixed to the clevis 38 by such means as the arm of the yoke 36. When located between the arms, the yoke 36 and clevis 38 are located perpendicular to each other. Ru. As clearly shown in FIG. 2, the arm of clevis 38 has pin 4 near its end 2 to the shaft 30.

A passageway 44 is defined between yoke 36 and clevis 38.

A pail 46 is located within the passageway 44. Pale 46 has an arcuate shape on the stroma. , is curved concavely around the shaft 30 with respect to the inside of the housing. Ru. The pail has gear end portions 47,48. The gear end portions 47 and 48 are spur gears. have

As clearly shown in FIG. 4, the pail 46 connects to the gimbal assembly 14 via a bearing 50. Work together. The bearing 50 is connected to tracks 52 located on both sides of the pale 46 and the yoke 3. track 54 located on the opposite inner surface of 6.

The pail 46 is rotatable to the inside/Using wall section 24 via the bins 56, 58. 1.2, these bins are attached to the gear end portion 4, as shown in FIG. 1.2. 7.48 to the inner wall section 24 to allow pivoting of the pail about the axis 49. Ru. The bins 56.58 each pivot in bearings 57.59.

The shaft 30 is rotatably mounted within the housing 12 and is inserted into a slot in the inner wall portion. ) 60.62 and bearings 64.661; connected in a state. The slots 60, 62 are approximately 1/4 of the circumference of the inner wall portion 24. It extends along this inner wall portion.

A second or rear gimbal assembly 70 is located within housing 12 . most of The second gimbal assembly has mirror symmetry with the first gimbal assembly 14 in respect of this point. and has a shaft 72 substantially perpendicular to axis 26 and substantially parallel to shaft 30. . The gimbal assembly further includes a rear yoke 76 and a rear clevis 78. A clevis assembly 74 is provided. Yoke 76 is attached to clevis 78 by screw 80. It is fixed. As clearly shown in FIGS. 1 and 2, the rear or second gimbal 78 is It is pivotally connected to the shaft 72 by a pin 82.

Yoke 76 and clevis 78 are located at right angles to each other, with clevis 78 intersecting yoke 76. It is located between the arms of the As clearly shown in Figure 2, the clevis 78 and the yoke 7 A passageway 82 is defined between the arms of No. 6 and 6. Pail 84 is located within passage 84 do.

Pail 84 is similar to pail 46 and has a substantially arcuate shape, with shaft 7 2 and is curved concavely into the interior of the housing. pale 84 cooperates with the yoke 76 via bearings 86 and 88, these bearings As clearly shown in the figure, the tracks 90, 92 and located on the opposing inner surface of the arm of track 76 and between f-track 94.96. ing.

Another embodiment of the pail/yoke assembly is shown in FIG. Pale 46A is this pay It has tracks 52A located on both sides of the rail. Yoke 36A is connected via bearing 50A. These bearings are connected to tracks 5 on yoke 36A in sliding cooperation with pail 46A. track 51 and track 51 when the yoke slides with respect to the pail. It operates on an endless route between 52A and 52A.

As clearly shown in FIG. The inner wall portion 24 is rotated by bins 98.100 supported on 99.101 respectively. mounted in a rotatable manner. Axes 49.102 lie substantially parallel to each other do.

Pail 84 has gear end portion 104.4 that cooperates with gear end portion 47.4B of pale 46. It has 106.

A shaft 72, similar to shaft 30, rotates along axis 103/inside X housing 12. It has been transferred. The shaft 72 is inserted into the slots 10g, 110 in the inner sidewall portion 24. and is rotatably mounted to the outer wall portion 22 by bearings 109,111. I'm being kicked. Each slot 108,110 spans approximately 1/4 of the circumference of the inner wall portion. ;It is extended. The shaft 72.30 is fixed to the shaft 30; the gear 11 2.114 and fixed to the shaft 72 I; cooperating via gears 116.118 .

Each gimbal assembly 14, 70 has a respective common It can pivot about center points 120,122. Center points 120 and 122 are the main points When the light joint is in the extended position, it is located along axis 26.

Figure 2.3 shows the motion of the wrist joint actuator of the present invention along the yaw axis. Explain with reference to. When the yoke 36 moves to one side, the gears 112 and 116 move together. the gimbal assembly 14.70 to the pail 46.84 via the bearing 50.86. Move them respectively. Furthermore, due to the cooperation of gears 112 and 116, the pail 4 6.84 is rotated so that the tool carrier 20 is moved substantially from a position along axis 26 to axis 26. Move to vertical position.

The movement along the pitch axis will be explained with reference to Figure 4.5.

When the gimbal assembly 14 moves, the cleavage around the center point 120, 122 Pivoting of the base assembly causes movement along the pitch axis, which movement is translated into gear 48. 106 and gears 47 and 104 from one gimbal assembly to the other gimbal assembly. transmitted to the assembly. As shown in FIG. to a position substantially perpendicular to axis 26.

The actuator for the wrist joint joint of the present invention is moved through a compound motion of pitching and yaw. so that the inner housing rotates about the bearing 28 with respect to the outer housing. The shaft 30.72 is then decoupled from its original position. child The decoupling of the shaft 30.72 moves along the slot 62.110. It means to do.

The outer housing wall portion 22 maintains the gimbal assembly 14.16 in cooperative relationship and Please note that this is not necessary for this to work. Gimbal assembly 14.16 , via the bins 56.58.98.100 to the inner wall portion 24, function in a reasonable way. The outer wall portion 22 is an actuator for a wrist joint according to the present invention. and tool carriers when this type of support is required for a particular application. To enable a holding member to perform more rigid support. Tool-carrying members are optional along the hemisphere position, and the tool carrier is fully supported at any position it is moved to.

Tool carrier member 20 is secured to gimbal assembly 14 by any securing means. figure In the embodiment shown, the member 20 is threaded into a nut 130 secured to the yoke 36. It is fixed to the gimbal assembly 14 by fitting. The member 20 is a robot wrist joint joint. Carrying any desired tool that is more positionable. Such tools are, for example, and stone wheels, grippers, probes, painting guns, etc.

Note that the tool may be part of or integral with the yoke 36.

The drive train 18 that provides motion to the wrist joint of the present invention includes a central wrist joint support. tubular shirt) 142, a yaw axis push/pull rod 134, and a pitching axis push/pull rod. and a head 136.

A central support shaft 142 includes a support for the wrist joint and about the axis 26. Provides rotational motion. The push/pull rod 134 is powered by a pivot bin 140. 84 to provide the kinematic force for movement about the yaw axis. push The pull rod 136 is pivotally connected to the shaft 72 by a pin 142 and is aligned with the vertical and swing axes. Provides kinetic force for exercise.

In FIG. 6.7, the drive train 18 is shown in a housing with a top plate 130 and a tubular wall 141. 140. Bearing 143 and plate 139! Located between 141 and . A central support shaft 142 extends longitudinally within housing 140 and includes bearing 14 . 3 for rotation about an axis 26.

First forward sleeve 144 is located coaxially with shaft 142 and axis 26 . Sleeve 144 includes flange 14 extending inwardly from the inner wall of housing 140. 6 is retained within the housing 140. The housing 140 is Sleeve 14 located between flange 146 and sleeve 144 and along axis 26 4 movements are allowed.

Push/pull rod 134 passes through opening 150 in housing 140 and connects cross pin 1 52 to a clevis 154 on sleeve 144. As shown in Figure 6 As shown, the bearing 155 is located between the sleeve 144 and the clevis 154. , allowing rotational movement of the shaft 142 together with the push-pull rod 134.

A rod 156 passes through the rear bottom portion of the housing and is rigidly connected to the sleeve 144. are doing. Rod 156 is movable in a direction parallel to axis 26 as shown by arrow 168. and transmits the linear motion to the sleeve 144, push/pull rod 134, and pail 84. and provide the aforementioned yaw motion.

The linear motion force to the push-pull rod 136 has a structure similar to that of the sleeve 144. provided by sleeve 160. Sleeve 160 is coaxial with shaft 142 To position. The sleeve 160 is held coaxially to the shaft 142 by a flange 161. held.

A bushing 163 is located between the flange 161 and the sleeve 160 and extends along the axis 26. This allows movement of the sleeve 160.

Push/pull rod 136 has a portion 174 located substantially perpendicular to axis 26 . child portion 714 extends through opening 172 in shaft 142 . The second part 173 is , extending longitudinally through shaft 142, as clearly shown in FIG. push and pull A third portion 186 of the supporting rod 136 is located generally perpendicular to the axis 26 and extends through the opening 170. protrudes from tubular shaft 142 and is attached to clevis 164 by pin 168. I'm being kicked. Clevis 164 engages sleeve 160. Part 174. 173, 166 are integral with each other and integral with rod 136. bearing 155 (not shown) between the screw 164 and the sleeve 160. position to permit rotational movement of shaft 142 together with push/pull rod 136 .

As clearly shown in FIG. The lower rod 178 begins along the direction of arrow 186.

As can be understood from the above description, the bearings 143, 155 and the sleeve 160 The housing 140 is decoupled via a bearing (not shown) between the revis 164 and the housing 140. By ringing, the rolling rotation is combined with the movement of the push and pull rods 134, 136. is independently transmitted to the wrist joint actuator lO. Similarly, push and pull Movement of rod 134 may be caused by movement of push/pull rod 136 or rotation of shaft 142. It is carried out independently of movements and without conflicting with these movements. Similarly, push and pull Movement of rod 136 may be caused by movement of push/pull rod 134 or rotation of shaft 142. It is performed without conflicting with exercise.

A drive train 200 according to another embodiment is shown in FIG. This drive train 200 has a tubular side wall 2 04, a top plate 206, and a bottom plate 207. bearing 20B is located between the top plate 206 and the tubular side wall 204, and the bearing 209 is located between the bottom plate 207 and the tubular sidewall 204. Drive train 200 is similar to drive train 18 described above. It is attached to the wrist joint actuator 10 of the present invention by the following method.

The central shaft 210 is attached to the rear yoke in rotational motion. Lot A push-pull rod 212, similar to rod 134, is movable about a yaw axis. The push-pull rod 214 is pivoted to the pale 84, and the push-pull rod 214 is connected to the rear shirt I.72. It is pivoted to. Push/pull rods 212.214 are driven by motors 216.218. Both are activated. Motor 216.218 has commutator 220.222 Preferably, it is an electric motor powered via the motor. Commutator 22o1222 is attached to the central hollow shaft 210. Motors 216, 218 are each It is attached to the shaft 210 by screws 224 and 226.

move in each direction. The push/pull rods 212, 214 are Wrist joint 10 is actuated in substantially the same manner as rods 134,136. Lot The threaded end 214.215 is threaded by the motor 216.21B. By turning it in and screwing it out, it moves in the directions of arrows 228 and 204, respectively. It will be done.

For rotational movement, the hollow shaft 210 is rotated by a motor (not shown) on the shaft 26. Activated around. The rotation of this shaft is transmitted to the hollow side via the bearing 208. Decoupling the top plate 206 from the wall 204 and decoupling the bottom plate 207 via the bearing 209 By coupling, there are many possibilities.

In FIG. 9, another embodiment of the wrist joint actuator of the present invention is shown at 250. Shown in The wrist joint joint actuator 250 is a US patent application filed by the applicant. Similar to the wrist joint actuator described in No. 600,016 It is something.

In particular, the wrist joint actuator 250 was located within the housing 256. It has a first front bearing assembly 252 and a second rear bearing assembly 254. shaft The bearing assemblies 252 and 254 are similarly constructed, and a cross-sectional view of the bearing assembly 252 is shown below. This will be explained with reference to FIG. 10 shown in FIG. Bearing assembly 252 includes outer race member 262 , the inner race member 264, and the I-mace member, which are located between them and can move relative to each other. A bearing 260 having a bearing 266 is provided. The inner pivot member 268 has a first pivot a second pivot fixed to and perpendicular to the rod member 270; It has a rod member 272. Member 270 is inwardly connected by bushings 274,276. It is pivotally connected to the 1/- base member 264. The member 272 is a bushing 27B (only one (shown) is pivotally attached to the housing. The outer race member 262 is The pins 280 and 282 fixed to the outer base member 262 are used to attach the housing to the housing. It is attached. Bins 280 and 282 are bushes 280 (only one is shown in Figure 9). ) is pivotally attached to the housing.

Rod member 272 is located along axis 286 and rod member 274 is attached to axis 286. It is located along a substantially vertical axis 288 .

As previously mentioned, bearing assembly 254 is similar in construction to bearing assembly 252 and is similar in construction to shaft 2. rod member 272 and axis 288 located along axis 290 substantially parallel to 86; housing in a similar manner with rod member 274 located along substantially parallel axes 292. It is pivoted to the ring.

Cooperating pairs of spur gears 294,296 (only one of the multiple pairs shown) and pair of spur gears 2 98.300 (only one of the multiple pairs is shown), the kinetic force is transferred to the first and second bearings. transmitted between assemblies 252,254. One spur gear 294 is attached to the bin member 280. The other spur gear 294 (not shown) is fixed to the pin member 282 (this pin member is (shown in Figure M2O, but not shown in Figure 9). Spur gear 296 is a shaft It is fixed to pin 280 of receiver assembly 254 and cooperates with spur gear 294 . Similarly, others One spur gear 296 (not shown) is secured to pin 282 of bearing assembly 254; The other spur gear 294 (not shown) cooperates with the other spur gear 294 (not shown).

Each spur gear 298 is connected to the shaft 272 near opposite ends of the shaft 272, ie, opposite ends of the bearing assembly. It is fixed at 72. Similarly, spur gear 300 is connected to shafts on both sides of bearing assembly 254. A foot 272 is secured to the shaft 272 of the bearing assembly on both sides. spur gear 298.300 is the shaft of the wrist joint actuator 10 that cooperates with each other. In a manner similar to that described in connection with the spur tooth stem fitted in 30.72, Transferring kinetic forces between assemblies 252,254.

Tool carrying member 302 is secured to inner race member 262 of bearing 252. engineering The tool carrying member 302 is shown in a different shape from the tool carrying member 20 in sections 1-5. but in all respects their motion is the same.

Housing 256 is similar to housing 12 of FIGS. 1-5 and includes an outer housing 256. bearing 30B has an inner housing wall portion 304 and an inner housing wall portion 306. located between these wall portions to permit rotational movement of the bearing assembly 252,254. Ru. Inner housing wall portion 306 has a pair of first forward slots 31 on opposite sides thereof. 0, and the ends of rod members 272 extend through these slots. No. A pair of slots 312 at the rear of 2 are also formed in the inner housing wall portion 306 and Both ends of the rod member 272 of the bearing assembly 254 extend through these slots. Ru. Slots l-310, 312 are slots 62, 110 of the embodiment of FIGS. 1-5. performs the same function as That is, bearing assemblies are used to provide complex pitch/yaw motions. Decouple solids 252.254.

A central support rotary shaft 7) 314 rotating about an axis 316 and a clevis 320 and a push/pull rod 3 pivotally connected to the rod member 272 by the structure of the bin 322. 18, and the structure of the clevis 326 and pivot pin 328 connects the bearing assembly 25. The kinetic force is transferred to the hand via a push/pull rod 324 pivotally connected to the outer race member of No. 4. It is supplied to the neck joint actuator 250.

The movement of shaft 314, push/pull rod 318, and push/pull rod 324 is -Figure 5! i! The movement of the shaft 18 and push/pull rod 136, 134 of the example I understand that they are the same. The drive device described in connection with FIGS. 6-9 is Joint actuator 25 in the same manner as described in connection with Figures 1-5. Suitable for providing kinetic force to 0.

Although the invention has been described in terms of preferred embodiments, it may be understood that without departing from the spirit of the invention It goes without saying that various changes are possible.

□24 international search report

Claims (14)

[Claims] 1. In mechanical joints, first and second housing wall means coaxially positioned with respect to each other along a first axis; housing means; holding said housing wall portions together; bearing means for permitting relative rotational movement of the housing means; first and second gimbals each having a center point located on the first axis when in position; assembly; the first and second gimbal assemblies are connected, and the first and second gimbal assemblies are connected; the first and second gimbal assemblies to rotate the first and second gimbal assemblies; first and second linkage means for transmitting motion between; wherein the first and second gimbal assemblies are associated with the second housing wall portion. rotatable about the first axis through movement of the first housing wall portion; A mechanical joint characterized by a curved shape. 2. The mechanical joint of claim 1, wherein each gimbal assembly comprises: , a shaft rotationally mounted to the housing means and positioned perpendicular to the first axis; rotationally mounted within said housing means and connected to another bay of the other gimbal assembly; bail means for transmitting motion to the bail means; a clevis assembly pivotally connected to the shaft and having a passageway through the bail means; ; , the shaft transmits rotational motion of the same shaft to another system of the other gimbal assembly. shaft to transmit rotational movement of said bail to said further bailing means; A mechanical joint having means for transmitting rotational motion to said another shaft. 3. A joint according to claim 2, wherein said bail means connects two ends. and each end transmits rotational motion from one bailing means to the other bailing means. Fittings with toothed end parts for. 4. In the joint according to claim 2, from the one shaft to the other shaft. A joint in which the gear shaft is used as a means to transmit rotational motion to the shaft. 5. In the joint according to claim 2, in the passageway of the clevis assembly. located on either side of said bail means and slidably connect said bail means to said clevis assembly. fittings with bearing means. 6. The joint according to claim 2, wherein each of the systems of each of the gimbal assemblies A shaft extends through a slot in the first housing wall portion and extends through a slot in the second housing wall portion. A joint that is rotatably connected to the housing wall. 7. The joint according to claim 1, wherein the base of the first gimbal assembly is a first means for providing rotational motion to the first gimbal assembly; second means for providing rotational motion to a shaft; and second means for providing rotational motion to a shaft; For rotational movement of the first gimbal assembly, rotational movement is supplied to the first gimbal assembly. and third means for driving the joint. 8. 8. The joint according to claim 7, wherein the first means is connected to the first gimbal. a first rod member pivotally connected to the bail means of the assembly; a second rod member pivotally connected to the shaft of the first gimbal assembly; A stage is pivoted to the first gimbal assembly for transmitting rotational motion to the first gimbal assembly. A joint having a third rod member attached thereto. 9. 9. The joint according to claim 8, wherein the driving means coaxially positioned with respect to the member and sliding with respect to the third rod member along the first axis; first and second sleeves positioned in relation to the first rod member and the second rod member; The pad member is configured such that one of the first sleeve and the second sleeve moves along the first axis. When one of the first rod member or the second rod member is connected to the other rod member, the first sleeve and the third rod member for movement relative to the third rod member; Joints each pivotally connected to the second sleeve. 10. 9. The joint according to claim 8, wherein the driving means first, second and third electric motors for actuating the second and third rod members, respectively; Fittings with ta. 11. to provide a kinematic force to a mechanical coupling having first and second gimbal assemblies. a drive mechanism, wherein each gimbal assembly rotates the same gimbal assembly about a pitching axis; means for moving the assembly and moving the gimbal assembly about the yaw axis; and a means for allowing rotation of the gimbal assembly about the first axis. and a drive mechanism capable of moving about said pitching axis. a first means for providing a motion force to the first gimbal assembly so as to providing a motion force to the first gimbal assembly for movement about a swing axis; second means for providing rotational motion to the first and second gimbal assemblies; A third means of A drive mechanism characterized by comprising: 12. 12. The drive mechanism according to claim 11, wherein the first means a first rod member pivotally connected to the gimbal assembly, the second means being pivotally connected to the first gimbal assembly; a second rod member pivotally connected to the gimbal assembly, the third means being pivotally connected to the first gimbal assembly; A drive mechanism having a third rod member pivotally connected to the assembly. 13. 13. The drive mechanism according to claim 12, wherein the first means a first sleeve positioned coaxially with respect to the rod member; a second sleeve coaxially positioned with respect to the third rod member; A sleeve is positioned along the first axis and extends between the first rod member and the second rod member. The rod member is configured such that the first, second and third rod members can move independently without interfering with each other. a drive mechanism pivotally connected to each of the first and second sleeves so as to rotate the sleeves; 14. 13. The drive mechanism according to claim 12, wherein the first means A drive mechanism comprising a motor, said second means comprising a second electric motor.