Robot arm with an additional output link

Abstract

A robot arm includes multiple joints and multiple links which can be adjusted relative to one another by movements of the joints of the robot arm. Each driven joint is paired with a drive device, and each drive device is designed to adjust the robot arm joint paired therewith, namely by automatic actuation of a motor of the respective drive device. The robot arm has a distal end link designed in the form of a tool flange, a hand link arranged directly upstream of the distal end link in the kinematic chain of the joints and links and on which the distal end link is rotatably mounted about a flange rotational axis. An additional output link is rotatably mounted on the hand link about a rotational axis that is parallel to the flange rotational axis and which is arranged on the hand link so as to lie opposite the distal end link.

Dependencies are inferred from the claim text.