基于直齿轮传动和双环解耦的柔性手腕原理与运动学分析

PRINCIPLE AND KINEMATICS ANALYSIS OF THE FLEXIBLE WRIST ON THE STRAIGHT GEAR DRIVE AND THE DOUBLE RING UNCOUPLING

由于ｐｉｔｃｈ、ｙａｗ运动耦合干涉问题一直没有被提出和解决，使得现有的柔性手腕机构中必须采用复杂、加工困难的球齿轮传动以满足ｐｉｔｃｈ、ｙａｗ机构运动的特殊要求．基于作者提出的双环解耦原理解决了不需球齿轮传动实现ｐｉｔｃｈ－ｙａｗ－ｒｏｌ柔性腕机构的关键问题，因而采用通常的直齿圆柱齿轮传动方式不需特殊加工即避开了球齿轮传动复杂和加工困难的问题．此外，提出和设计的柔性手腕在机器人柔性臂设计方面也有参考价值．

Because the interfering problem of the pitch yaw motion coupling has been put forward and solved, the spherical gear with the complex and difficult process has to be used in the present flexible wrist in order to meet the special need of the pitch yaw mechanism motion. The double ring uncoupling principle in this article can solve the critical problem of the pitch yaw roll flexible wrist without the spherical gear drive, so we adopt the straight and cylinder gear driving method, without special process, which avoids the problem of the spherical gear driving complexity and processing difficulty. In addition, the flexible wrist has also the reference value in the designed aspect of the robot flexible arm.