Kuka KR 20 axes 4,5,6

I was wondering if anyone had documentation or information on how the three motors driving the 4th, 5th, and 6th axes transmit their movement down the arm of the Kuka KR 20. I’m interested in building a 6-axis robot soon, and feel like it would be useful information. Of course I would by no means be able to replicate the engineer that goes on in those arms but it could lead to some creative ideas.

submitted by /u/jmehrs
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