The invention discloses a
rope-driven
wrist module based on a three-degree-of-freedom series-parallel
hybrid mechanism. The
wrist module is composed of a three-degree-of-freedom series-parallel module and a drive-control integrated module. The three-degree-of-freedom series-parallel module comprises a spherical pure rolling parallel mechanism and a tension amplification mechanism, the spherical pure rolling parallel mechanism realizes two-degree-of-freedom
spherical motion of a
wrist, a lower platform of the parallel mechanism is designed to have a rotational degree of freedom, so that the series-parallel
hybrid mechanism is formed, and the tension amplification mechanism ensures that the mechanism is light in weight and does not lose rigidity at the same time; and the drive-control integrated module is used for integrating a motor, a driver and a controller to form an independent electromechanical
system. The
rope-driven wrist module is designed by combining the advantages of
rope driving and modularization and has the advantages of being light in weight, reconfigurable, good in flexibility and the like, the degree-of-freedom configuration of the series-parallel
hybrid mechanism is consistent with that of a real wrist, high-fidelity humanoid wrist movement can be achieved, and a new design thought is provided for humanoid
service robot wrist design.