A joint structure of a robot for moving an assembly 51 to be connected to a robot link with respect to the robot link, the joint structure includes a first motor 10 for causing the assembly a longitudinal swing motion, a second motor 20 for causing the assembly a lateral swing motion, and a third motor...http://www.google.fr/patents/US7938038?utm_source=gb-gplus-shareBrevet US7938038 - Joint structure of robot
