本文提出了由双重系杆平面差动轮系机构组成的工业机器人柔性手腕。
This paper discusses an industrial robot wrist consisting of double-arm planar differential planetary gear train.
本文应用转化机构的基本概念分析了封闭式差动轮系，多自由度轮系和多重轮系的传动比、力矩和效率。
Based on the basic concept of transformed mechanism, transmission ratio, moment and efficiency of closed differential train, multiple freedom train and multiple train are analysed in this thesis.
对核心的差动轮系部分进行了优化，得出了既能满足功能要求又可以有效减小机构质量的较合理的参数；
The differential gearing system is optimized and more appropriate parameters are got with which the functional requirements can be satisfied and the weight of the mechanism can also be reduced.
有级调速机构、无机调速机构分别与传动系统中的调速齿轮组和差动轮系匹配。
The step speed regulating mechanism and the stepless speed regulating mechanism are separately matched with the speed regulating gear set and the differential gear train of the transmission system.
有级调速机构、无机调速机构分别与传动系统中的调速齿轮组和差动轮系匹配。
The step speed regulating mechanism and the stepless speed regulating mechanism are separately matched with the speed regulating gear set and the differential gear train of the transmission system.
应用推荐