Each low-cost joint kit comprises a PRT polymer slewing ring bearing, which is self-lubricating and maintenance free, and worm gear, which is housed in plastic for added protection while ensuring weight is kept to a minimum.
For direct drive of the joint, a NEMA motor can be integrated in the axis and equipped with an encoder to send angle signals back to the controller. A variety of different grippers is also available.
http://www.igus.co.uk/r05/video.aspx?v=hmi2015_robolink_en.mp4&VH=390&VW=676&H=robolink