Hardware configuration of ABB robot arm

[resonanceshah]

Hello everyone,

Can anyone kindly help me in understanding how the last 3 joints of industrial robots (e.g IRB 140) are mechanically coupled to fit in such a small space and how the motors are connected to their resp gearboxes. I am trying hard to figure out how the cables pass through the joints and through the gearboxes. It seems extremely interesting. If anyone has any sketches of how all the joints are mechanically geared, the nit would really be useful.

Also is it true that controllers of ABB robots are actually provided by Gudel. If so then why are ABB robots more popular than Gudel robots.


Thanks
Reso....