Industrial robot with servo

A self-contained pitch joint comprising:

• an ear module, including
• a bell portion and two or more parallel ears extending from said bell portion, each ear defining substantially concentric apertures;
• a case module, including
• a bell portion and a substantially tubular portion extending from said bell portion and positioned between said ears;
• two or more bearings positioned to permit relative rotation between said ear module and said case module;
• a reduction gearing drive means rigidly affixed to said case module;
• a means, rigidly affixed to said reduction gearing means, for clutchably communicating rotational movement between said reduction gearing means and said ear module;
• a means responsive to the rotational movement between said ear module and said case module for producing a second signal.

A self-contained roll joint comprising:

• an external structural shell;
• an internal structural shell co-axial with said external shell;
• two or more bearings positioned to permit relative rotation between said external shell and said internal shell;
• a reduction gearing drive means rigidly affixed to a first one of said shells;
• a means, rigidly affixed to said reduction gearing drive means, for clutchably communicating rotational movement of said reduction gearing means to a second one of said shells;
• a means responsive to the rotational force between said external shell and said internal shell for producing a first signal;
• and
• a means responsive to the rotational movement between said external shell and said internal shell for producing a second signal.

A self-contained roll joint comprising:

• an external structural shell;
• an internal structural shell co-axial with said external shell;
• two or more bearings positioned to permit relative rotation between said external shell and said internal shell;
• a reduction gearing drive means rigidly affixed to said internal shell;
• a means, rigidly affixed to said reduction gearing means, for clutchable communicating rotational movement of said reduction gearing means to said external shell;
• a means responsive to the rotational force between said external shell and said internal shell for producing a force signal;
• a means responsive to the rotational movement between said external shell and said internal shell for producing a second signal.

An electromechanical joint comprising:

• first and second substantially cylindrical structural assemblies rotatably connected about a substantially single axis of assembly rotation;
• an electrically operable motor stator mechanically attached to said first assembly and in thermal communication with a heat dissipator;
• a rotor shaft concentrically mounted within said stator wherein the axis of rotation of said rotor shaft is substantially colinear to said axis of assembly rotation;
• a transmission device including a reduction gearing assembly having a higher speed element and a lower speed element to impart relative rotation between said first assembly and said second assembly about said axis of rotation when said motor is activated;
• and
• a detector of motive force situated in communication with said lower speed element.