本文分析了用于六自由度工业机器人的球型手腕，这种手腕具有结构紧凑，姿态范围大，定位精度高等特点。

This paper describes a ball-shaped wrist with six degrees of freedom of industrial robot, the wrist is high in repeatability, large in orientation, and compact in size.

youdao

本文分析了用于六自由度工业机器人的球型手腕，这种手腕具有结构紧凑，姿态范围大，定位精度高等特点。

This paper describes a ball-shaped wrist with six degrees of freedom of industrial robot, the wrist is high in repeatability, large in orientation, and compact in size.

youdao