| 摘要 |
<p>Spherical wrist joint with three degrees of freedom of the PYR (pitch, yaw, roll) type, consisting (Fig. 1) of five conical toothed gears used for movement in the "end effector" space 1 working by means of rotations on a star wheel c used to guide a fork f on which is placed the output shaft of the said end effector. The motion reaches the joint via three toothed belts C1, C2, C3. Gear 1 is provided to control yaw motion, gear 2 for pitch motion and gear 3 for roll motion. The advantage of the invention is above all that there is no degenerative working space and the three motions can be combined in any way. Technical field: mechanical engineering, particularly robotics, finding application in the field of manufacturing robots for assembling components, movement, etc. The invention can also be advantageously applied in other fields, for example the biomedical field, for wrist and knee prostheses, etc. An attractive feature of the invention is its simple construction, and compared with previous solutions it has a smaller number of gears, thereby having significantly improved characteristics. <IMAGE></p> |
