Figure 5. Cut joint robot 1) First Leg, 2) screw M12, 3) transmission TS240 4) flange gearbox, 5) motor flange, 6) engine, 7) base 8) M4 screws, 9) sealing rubber, 10) screw M6

From

Manipulator Arm for Robot SCORPIO

Ondrej Juruš, Marek Sukop, Michal Špak, Miroslav Štofa

American Journal of Mechanical Engineering. 2016, 4(7), 349-352 doi:10.12691/ajme-4-7-20