Apparatus for performing work functions

An apparatus for performing a work function on a workpiece comprising a stationary base, a rotatable base mounted on said stationary base, means for rotatably displacing said rotatable base relative to said stationary base, a lower arm member pivotally mounted on said rotatable base, hydraulically actuated means for angularly displacing said lower arm member relative to said rotatable base, an upper arm member pivotally mounted on said lower arm member, hydraulically actuated means for angularly displacing said upper arm member relative to said lower arm member, a wrist assembly mounted on said upper arm member, a hand member universally mounted on said wrist assembly, hydraulically actuated means for angularly displacing said hand member relative to said wrist assembly including one or more push rods each operatively connected to said wrist member and to said hand member, means for displacing each said push rod, means disposed on said hand member for mounting a work tool, said stationary and rotatable bases including a rotary fluid slip ring assembly, and means for transmitting fluid between said stationary base and said hydraulically actuated means through said fluid slip ring assembly for operating said hydraulically actuated means.

An apparatus for performing a work function on a workpiece comprising a stationary base, a rotatable base mounted on said stationary base, means for rotatably displacing said rotatable base relative to said stationary base, a lower arm member pivotally mounted on said rotatable base, hydraulically actuated means for angularly displacing said lower arm member relative to said rotatable base, an upper arm member pivotally mounted on said lower arm member, hydraulically actuated means for angularly displacing said upper arm member relative to said lower arm member, a wrist assembly mounted on said upper arm member, a hand member universally mounted on said wrist assembly, said wrist assembly including two or more hydraulically linearly actuated means for angularly displacing said hand member relative to said upper arm member about separate axes, each said means being mounted on said wrist member, means disposed on said hand member for mounting a work tool, said stationary and rotatable bases including a rotary fluid slip ring assembly, and means for transmitting fluid between said stationary base and said hydraulically actuated means through said fluid slip ring assembly for operating said hydraulically actuated means.

An apparatus for performing a work function on a workpiece comprising a stationary base, a rotatable base mounted on said stationary base, means for rotatably displacing said rotatable base relative to said stationary base, a lower arm member pivotally mounted on said rotatable base, hydraulically actuated means for angularly displacing said lower arm member relative to said rotatable base, an upper arm member pivotally mounted on said lower arm member, hydraulically actuated means for angularly displacing said upper arm member relative to said lower arm member, a wrist assembly mounted on said upper arm member, a hand member connected to said wrist assembly, said wrist assembly including universal connection means, a first means connected to said hand member through said universal connection means for angularly displacing said hand member relative to said upper arm member about a first axis, and a second means connected to said hand member through said universal connection means for angularly displacing said hand member about said first axis and about a second axis, said stationary and rotatable bases including a rotary fluid slip ring assembly, and means for transmitting fluid between said stationary base and said hydraulically actuated means through said fluid slip ring assembly for operating said hydraulically actuated means.