本文主要介绍现有腱驱动多关节式手臂传动机构及其存在的问题，并提出一种新型传动机构以彻底解决电机的重量问题。
This paper focuses on a new design of the manipulator driving device based on the problem of the present tend on driven manipulator and solve the weight problem of motor.
该方案采用了行星轮系和4组齿轮副的传动机构，实现了驱动机构在7种工作模式下的连续传动。
In the solution, the drive train consisting of the planetary gear train and 4 gear pairs is applied to realize continuous transmission under 7 working modes.
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