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

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.