The invention relates to a three-freedom-degree
constant speed decoupling space
robot active spherical
wrist and a universal compliant control method. The offset mode that the included angles are formed among rotation plane normal and rotating shafts is adopted for both an upper hemisphere rotating body and a lower hemisphere rotating body. The intersection point of the two rotating shafts of the upper rotating body and the lower rotating body is the sphere center of hemispheres of the upper rotating body and the lower rotating body, the intersection point of the two rotating shafts coincides with the rotating center of an inner ball cage
universal joint and the rotating center of an outer ball cage
universal joint respectively, and then
constant speed decoupling of three input movements is achieved; the output end of the outer ball cage
universal joint is connected with a shaft neck of the upper rotating body through a bearing in a suspension mode, three absolute corner coded discs are connected with the upper rotating body, the lower rotating body, a motor conducting
spinning motion, and the output end of a speed reducing
system respectively, a six-dimensional ATI sensor is installed at the output
tail end of the
wrist, and a
wrist universal compliant follow-up
control mode is achieved by a rotating joint of an upper hemisphere, a rotating joint of a lower hemisphere and a joint conducting
spinning motion through a
system friction force compensation technology. The three-freedom-degree
constant speed decoupling space
robot active spherical wrist and the universal compliant control method are accurate in locating, stable in movement, and capable of avoiding oscillation phenomena of movement
coupling and mechanical arms and effectively relieving mechanical interference in a spherical wrist full compliant mode.