A cable driven wrist mechanism for a robot arm which executes a rolling motion and a pitching motion. The wrist mechanism includes a first drive body and a second drive body which are independently driven. The wrist mechanism includes first and second rotary bodies which are connected to the first and...http://www.google.fr/patents/US7762156?utm_source=gb-gplus-shareBrevet US7762156 - Cable-driven wrist mechanism for robot arms
