Actuatable joint for a robotic system having an axial angular contact roller bearing

A robotic system, comprising:

• a connector arm;
• and
• an actuatable joint, including
• a body;
• a motor positioned in the body;
• an output shaft configured to be rotated by the motor relative to the body, the output shaft including a frusto-conical section defining a pair of support surfaces;
• a connector plate secured to the output shaft;
• and
• a bearing assembly positioned between the output shaft and the body and configured to support the rotation of the output shaft,
• wherein the bearing assembly includes a first axial angular contact roller bearing and a second axial angular contact roller bearing, each including:
• a pair of frusto-conical bearing rings forming a pair of parallel races, one of the bearing rings being in contact with one of the support surfaces,
• a bearing cage positioned between the pair of bearing rings and including a plurality of openings, and
• a plurality of rollers positioned in the openings and in contact with the races,
• wherein the connector arm is attached to the connector plate for rotation by the motor.