Industrial robot arm

A robot arm for end-effector motion, comprising:

• a first actuator configured to rotate an inner arm-assemblage about a first axis of rotation, the inner arm-assemblage being connected to an outer arm-linkage pivotably arranged around a second axis of rotation, the outer arm-linkage being connected to an end-effector platform, thereby forming a first kinematic chain from the first actuator to the end-effector platform that provides a first degree of freedom for positioning the end-effector platform;
• a second actuator configured to rotate the outer arm-linkage around the second axis of rotation, thereby forming a second kinematic chain from the second actuator to the end-effector platform that provides a second degree of freedom for positioning the end-effector platform;
• a third actuator configured to rotate a shaft around a third axis of rotation such that the outer arm-linkage is rotated via a joint, thereby forming a third kinematic chain from the third actuator to the end-effector platform that provides a third degree of freedom for positioning the end-effector platform;
• and
• a fourth actuator and a fourth kinematic chain configured to transmit a movement of the fourth actuator to a corresponding orientation axis for an end-effector, the fourth kinematic chain comprising:
• an orientation linkage mounted to the inner arm-assemblage via at least one bearing;
• and
• an orientation transmission mounted to the end-effector platform, wherein the orientation linkage comprises an end-effector rotation link and a plurality of joints that provide at least two degrees of freedom for motion of each end-joint of the end-effector rotation link.