The proto-type wrist joint assembly TACPAW (Triple Axis Common Pivot Arm Wrist), phase 2

A wrist joint assembly is described for use with a mechanical manipulator arm for finely positioning an end-effector carried by the wrist joint on the terminal end of the manipulator arm. The wrist joint assembly is pivotable about a first axis to produce a yaw motion, a second axis to produce a pitch motion, and a third axis to produce a roll motion. The performance of the wrist configuration is indicative of the capability to produce the 15 ft lb torque in either one of the three motions and the smoothness of operation is notable.