The invention discloses a main hand operating
wrist of a master-slave
robot, relates to the main hand operating
wrist, and aims to solve the problems that a mechanical arm of a main hand end in the prior art is relatively small in
working space, not high in flexibility, lack of force and moment of force feedback information, great in mechanism, lack of sense of force, low in space
utilization rate, limited in application occasion, not flexible to operate, complex to operate, incapable of realizing
force balance of any position of the mechanical arm, great in load for a doctor to drive the main hand to operate, and fatigable. The main hand operating
wrist comprises an arm connector, a first wrist joint
assembly, a second wrist joint
assembly, a third wrist joint
assembly, a fourth wrist joint assembly and a clamping mechanism connector, wherein the first wrist joint assembly comprises a first driver, a first motor, a first shaft coupler, a first shaft, a first absolute type angle
encoder, a first housing and two first bevel gears. The main hand operating wrist is used for the field of medical robots.