Modify Wrist 3 To Wrist 1 Or Wrist2 - Universal Robots UR3 Service Manual

5. Service and Replacement of Parts

5.2.18. Modify Wrist 3 to Wrist 1 or Wrist2

1. Mechanical parts must be replaced.
2. The orientation of the output flange must be changed
3. The joint ID must be modified.
Use the ESD guidelines for the modification of the wrist see:
Service Manual
3.0.0 Handling ESD-sensitive parts
49 UR3