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

作　　者：刘宪锋[1] 潘存云[1] 杨昂 岳罗昆 

机构地区：[1]国防科技大学机械电子工程与仪器系

出　　处：《机器人》1996年第4期200-205,共6页Robot

基　　金：国家自然科学基金

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。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.

关 键 词：球形齿轮 柔性手腕 运动分析 工业机器人 手腕 

分 类 号：TP241.2[自动化与计算机技术—检测技术与自动化装置]