Four unique linkages repeated, and simple bearings are all that is used to construct the sensor mount.

The Omni-Wrist III is a breakthrough in simplicity and ruggedness.

Singularity-free motion is one of it's unique features which include:

• Elimination of all gearing found in previous designs

• Singularity-free motion

• Zero backlash for improved positional accuracy

• 1" through-hole for wiring, fiber optics, hoses, etc.

• Light-weight aircraft type design

• Simple preloaded bearing design

• Only three unique components

The Omni-Wrist III™ Platform

Using only simple preloaded bearing and linkages the Omni-Wrist III greatly enhances positional accuracy over conventional wrist mechanisms.

Modular in construction the linear actuator drives are easily replaced for maintenance. Light-weight aircraft design make it ideal for sensor pointing, spray finishing, sealant, and welding robots.

Advanced applications also include robotic surgery and even manipulating water jets in large scale fountains.

Specifications for Sensor Mount
Height	18.2"
Diameter	8"
Weight	18 lbs
Payload Capacity	5 lbs @ specified resolution 30 lbs Max
Pointing Envelope	180º Hemisphere + 5º Past Horizon
Travel Rate	Capable of full range in less than 1 sec
Positional Resolution	72 arcseconds (.02º)
Actuator Type	Linear, Exlar GS20-0302
Limit Switches	Hall Effect sensor at all ends of travel, Mechanical stops in actuators
Home Position Sensor	Fiber optic displacement sensor
Construction	Titanium, Aluminum, Stainless Steel