The invention relates to a robot arm and a robot wrist. The robot arm comprises a number N of actuator-drivable joint connections GV.sub.n, which are connected in series via arm links GL.sub.i, where n=1, 2, . . . , N, and i=1, 2, . . . , N1, and N6, wherein the proximal arm link GL.sub.1 of the robot arm can be connected to a robot body via the joint connection GV.sub.1, the distal arm link GL.sub.N-1 of the robot arm can be connected to an effector E via the joint connection GV.sub.N, the arm links GL.sub.N-1 and GL.sub.N-2 are connected via the joint connection GV.sub.N-1 and the arm links GL.sub.N-2 and GL.sub.N-3 are connected via the joint connection GV.sub.N-2, and each of the joint connections GV.sub.N, GV.sub.N-1, GV.sub.N-2 enables a movement about an axis of rotation R.sub.GV,N, R.sub.GV,N-1, R.sub.GV,N-2 assigned to the same. The robot arm is configured in such a way that the axes of rotation R.sub.GV,N-2 and R.sub.GV,N-1 intersect at an angle in the range from 50 to 130 or the axes of rotation R.sub.GV,N-2 and R.sub.GV,N-1 have a minimum spacing A1 from each other in the range from 1 mm to 20 mm, the axis of rotation R.sub.GV,N is arranged radially at a constant distance D1 from the axis of rotation R.sub.GV,N-1, and a sensor is present in the joint connection GV.sub.N-1 to detect a force or a torque about the axis of rotation R.sub.GV,N-1.

A manipulator arm module includes a hollow spool with corresponding top and bottom spool ends. An upper envelope member has a bottom ring rotatably attached to the top spool end, a top ring oriented at an angle to the bottom ring, and struts rigidly connecting the rings. A top drive rotates the bottom ring with respect to the spool. A manipulator arm comprises a plurality of modules the bottom spool end of one module rotatably attached to the top ring of a next lower adjacent module. Each ring is rotationally driven independently. A stabilizer is connected between adjacent spools and allows the adjacent spools to move closer together or farther apart, and resists relative rotative movement of the adjacent spools.

A roll rotation structure for rotationally driving, in a roll direction of a robot, an arm unit mounted on a shoulder part of the robot through a roll support part comprises a linear motion actuator having an output shaft that moves linearly, a mounting part by which the linear motion actuator is mounted on the shoulder part in such a manner that a main body of the linear motion actuator is located at the side of a main body of the robot adjacent to the shoulder part, and that the output shaft of the linear motion actuator can be drawn into and out of the shoulder part, and a connection part that connects the output shaft and the arm unit in such a manner that an output from the output shaft of the linear motion actuator produces an angular moment in the roll direction in the roll support part.

A mechanical arm assembly is generally presented. The mechanical arm assembly comprises a plurality of joints including a first joint, one or more intermediate joints, and a terminal joint connected in consecutive series and each configured to rotate with respect to any respective adjacent joints. The first, intermediate, and terminal joints are configured with their base and top arranged at a given angle with respect to the normal plane of the joint, such as parallel to the normal plane or 22.5 degrees with respect to the normal plane. Rotation of the joints is controlled by control wires. The control wires may be routed internally through the joints or externally outside of the joints.

A painting robot according to this disclosure includes a vertical multi-joint robot arm; a linear shaft configured to linearly move the robot arm along a mount surface for the robot arm; and a controller configured to interlock the joint of the robot arm and the linear shaft with each other in an operation of painting a workpiece.