Robot with a wrist joint for manipulating a tool

A method for performing operations on a vehicle, the method comprising:

• rotationally coupling one end of a wrist joint to an end of a robotic arm;
• coupling a tool to an opposite end of the wrist joint;
• rotating, via a tool motor, the tool relative to the wrist joint about a tool axis;
• and
• rotating the tool motor with the tool about the tool axis.

A wrist joint for a robotic arm that performs operations on an vehicle, the wrist joint comprising:

• a wrist joint with a first end coupled to a robotic arm and a second end coupled to a tool;
• a plurality of hoses and a center hose extending through an interior space of the wrist joint from the first end to the second end, with the plurality of hoses helically wrapped around the center hose;
• a hose motor coupled to the first end of the wrist joint and configured to rotate the plurality of hoses and the center hose about a first axis at the first end;
• and
• a tool motor coupled to the second end and configured to rotate the plurality of hoses and the center hose about a second axis at the second end, wherein the hose motor and the tool motor cooperate with each other to rotate the plurality of hoses and the center hose as the tool is rotated by the tool motor, regardless of a relative angle between the first axis and the second axis.