连续3R斜交非球型手腕的设计与运动学分析

针对机器人手腕结构类型和轿车喷涂作业要求，提出一种中空结构的斜交非球型3R手腕的概念设计．手腕外壳由两段变径管和一个法兰构成，内部是由中空的锥齿轮、直齿轮和轴组成3个机械传动链；手腕整体结构紧凑，灵活度大，能实现三维空间内的任意姿态；同时用矩阵分析的方法对这种手腕进行了运动学建模和工作空间分析，并用ADAMS软件进行了运动学仿真，仿真结果和理论计算值一致，表明手腕的结构设计方案可行．

Design and Kinematics Analysis of the Continuous 3R Oblique Axis Non-Spherical Wrist

Based on the analyses of robot wrist structure and the requirements of spray painting for car, the conceptual design of a hollow oblique axis non-spherical 3R wrist is put forward. The wrist shell is constituted of two reducer pipes and a flange, and the internal structure of the wrist is three mechanical transmission lines composed of hollow bevel gears, spur gears and axes. With the cramped construction and great flexibility ratio, the wrist can be in any orientation in three-dimensional space. At the same time, via the method of matrix analysis, the kinematics modeling is set up and workspace is analysed for the wrist. And the kinematics simulation is completed with automatic dynamic analysis of mechanical systems （ADAMS）software. The results of simulation are consistent with the theoretical values, so the scheme for the wrist structure is feasible.