Hardware configuration of Fanuc robots

[resonanceshah]

Hello everyone,

Can anyone kindly help me in understanding how the last 3 joints of industrial robots (e.g basic 6 DOF Fanuc robot with 6 Kg paylaod) 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, then it would really be useful.



Thanks
Reso....