#robot #wrist #assembled

Here the range of freedom of the wrist can be seen flexing and extending by at least ninety degrees. In the same way as the human wrist yaw rotation is impinged at the limits of the pitch rotation. Note that the fingers are not rigidly attached to each other in the palm but form one of the two pitch joints of the wrist with tendonous attachment at the knuckles. The second pitch joint is located at the distal end of the forearm. The two joints are torsionally coupled by a ligament that passes through the centre of the wrist joint. Rotation around the long axis of the forearm is provided by the large diameter thin-section bearing that secures the forearm to the lower elbow.