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Chapter 6 - Technical Specification
Joint 3
Joint 3 provides vertical translation of the quill. Joint 3 drives the quill to up and down
with a maximum stroke of 200 mm (7.9"). See Figure 6-12.
The Adept 550 Cleanroom robot has a maximum Joint 3 stroke of 180 mm; see
Appendix A.
Joint 4
Joint 4, also referred to as the "wrist", provides for rotation of the quill. Joint 4 does not
have hardstops, but software limits its motion to ±360° (see Figure 6-12).
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Joint 3 Stroke
Figure 6-12. Joint-3 and Joint-4 Motions
Adept 550 Robot Instruction Handbook, Rev A
Joint 4 Rotation
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