| 基于球形齿轮传动的柔性手腕动作原理及其运动分析 |
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| 引用本文： | 刘宪锋,潘存云.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):200-205. |
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| 作者姓名： | 刘宪锋 潘存云 |
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| 作者单位： | 国防科技大学机械电子工程与仪器系 |
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| 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，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。
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| 关 键 词： | 球形齿轮 柔性手腕 运动分析 工业机器人 手腕 |
MOVING PRINCIPLE OF THE WRIST ACTUATOR BASED ON SPHERICAL GEAR TRANSMISSION AND ITS KINEMATIC ANALYSIS |
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| LIU Xianfeng,PAN Cunyun,YANG Angyue,LUO Kun.MOVING PRINCIPLE OF THE WRIST ACTUATOR BASED ON SPHERICAL GEAR TRANSMISSION AND ITS KINEMATIC ANALYSIS[J].Robot,1996,18(4):200-205. |
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| Authors: | LIU Xianfeng PAN Cunyun YANG Angyue LUO Kun |
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| 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. |
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| Keywords: | Spherical gear flexible wrist kinematic analysis |
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