| 摘要 |
The robot wrist improves the power trnasmission efficiency and makes the robot compact by simplifying the connection structure. The robot wrist comprises a 1st wrist(29) assembled with a 1st shaft(3); 2nd and 3rd shaft(7,8) combined within the 1st shaft(3); pulleys(35,36) connected to the 3rd shaft(8) via bevel gears(11,39) and a timing belt(37); other belvel gears(10,33) transmitting the power of the 2nd shaft(7) with a speed reducer(34); a 2nd wrist(30) receiving the power of the 2nd and 3rd shaft(7,8).
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