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With the development of science and technology, in some applications, the existing gear mechanism can not meet the motion transmission requirements of some special occasions, such as all-round bionic spherical joints, flexible wrist joints of high-performance robots and the marrow of anthropomorphic robots. Joints and shoulder joints, etc. A common feature of these joint devices is that in addition to requiring a certain ratio of the transmission ratio between the input shaft and the output shaft, the orientation between the input and output axes can be arbitrarily adjusted. This means that the output shaft must be able to make a full range of yaw movements relative to the input shaft. This kind of exercise is exactly the same as a pair of balls in pure rolling motion. Therefore, research on spherical gear transmission is a valuable work for both the theory of enriching institutions and the actual needs of engineering.
The study of spherical gears was originally initiated from the study of robotic flexible wrists. The flexible wrist is a kind of a plurality of motion transmission elements connected in series, the main and the slave motion elements can be rotated relative to each other, and can simulate the movement of the human wrist, so that the robot can arbitrarily adjust and change the three-dimensional space of the hand in a certain space area. Orientation mechanism of the posture. The flexible wrist works with the arm to perform a variety of complex tasks.
In order to complete various complicated operations in the industrial production site (such as welding, painting, painting, etc.), the wrist of the robot is generally required to have three degrees of freedom to satisfy the hand of the industrial robot in any direction in a certain area. Requirements for the use of the tool. The flexible wrist just has this requirement, so the flexible wrist is an extremely important part of the robot structure, and the high-performance robot is generally equipped with a flexible wrist.