A drive mechanism (62) for driving a mechanical joint (10) that includes first and second gimbal assemblies (14, 16) rotatably mounted within the interior of a support (18) and includes a decoupling mechanism (70, 72) in slidable engagement with the support (18) for effecting movement of the joint (10)...http://www.google.es/patents/US5036724?utm_source=gb-gplus-sharePatente US5036724 - Robot wrist
