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Abstract: One
new kind of robot wrist which is composed of ring involute spherical
gear and driven by eight-bar linkages is introd-uced. The new robot
wrist is composed of six spherical gears, all these spherical gears are
linked one to another in series. The robot wrist is one of multi-bracket
gear train with spatial motion. The new wrist has three degree of
freedom and can oscillate towards any orientation. The maximal
oscillating angle equate to 126°. The motional performance is far better
than that of famous Trallffa robot wrist. The construction type of
series-mounting with more than two spherical gears is introduced. The
characteristics of wrist’s structure and its action theory are analyzed.
The movability of driving linkages is also analyzed, and its kinematics
mo-del is built up. Then the analysis of the oscillating motion and circumgyrating
motion of robot wrist is accomplished. The position and orientation
matrix of six spherical gears in wrist is determined by
Denavit-Hartenberg method. After deducing the relationship of tow
oscillating angle between output axis and first bracket, the position of
end point of output axis is determined. The kinematics and inverse
kinematics model of circumgyrating motion of robot wrist are founded.
The kinematics model of diving linkage and robot wrist is the gist for
designing control system.
Key words: Mechanisms Robot Flexible wrist Planetary tranmission
CLC No: TG156
国家自然科学基金资助项目(50475058、59275159). Received 20040922, received in revised
form 20050208
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