This paper presents a kind of ring involute spherical gear mechanism, and studies deeply on the theory and manufacturing method for the spherical gear, as an example, it gives an analysis of the structure and action theory for a flexible wrist based on the spherical gear mechanism.
本文提出了一种渐开线环面齿球齿轮机构,讨论了这种球齿轮机构的形成以及加工方法,作为应用实例,介绍了基于这种球齿轮的机器人柔性手腕机构的结构特点,并对其传动原理进行了详细分析.