Wrist architecture

Abstract

A method of making a wrist assembly for coupling an end effector to a shaft, the method comprising: pivotally coupling an inner link with a first outer link by inserting a first pair of protruding journals of an inner link into a first pair of complementary journal bearings of a first outer link; pivotally coupling the inner link with a second outer link by inserting a second pair of protruding journals of the inner link into a second pair of journal bearings of a second outer link; intermeshing first gear teeth of the first outer link with second gear teeth of the second outer link; and routing drive cables configured to articulate the first outer link and second outer link relative to each other through the first outer link and second outer link.

Dependencies are inferred from the claim text.