刘宪锋, 潘存云, 杨昂, 岳罗昆. 基于球形齿轮传动的柔性手腕动作原理及其运动分析[J]. 机器人, 1996, 18(4): 201-205..
LIU Xianfeng, PAN Cunyun, YANG Angyue, LUO Kun. MOVING PRINCIPLE OF THE WRIST ACTUATOR BASED ON SPHERICAL GEAR TRANSMISSION AND ITS KINEMATIC ANALYSIS. ROBOT, 1996, 18(4): 201-205..
Abstract：Advanced wrist is important for the development of industrial robots. The flexible wrist actuator based on spherical gear transmission is a wrist that is mechanically simple and compact has a large moving scope. The wrist is can be spray painting and welding robots. It produces 260 degrees of pitch and yaw motion, and continuous bidirectional roll rotation features the wrist.
