基于球形齿轮传动的柔性手腕动作原理及其运动分析

MOVING PRINCIPLE OF THE WRIST ACTUATOR BASED ON SPHERICAL GEAR TRANSMISSION AND ITS KINEMATIC ANALYSIS

摘要: 先进的机器人手腕对于推动工业机器人的发展具有重大意义，基于球形齿轮传动的柔性手腕具有结构简单、紧凑和运动范围大等优点，可以装配于喷漆和焊接机器人上，该手腕可产生260°的俯仰、偏摆动作，并具有连续双向回转的特征．

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.