The wrist structure of industrial robot is introduced. All its parts in transmission system were designed as three units which could be independently installed. The wrist had properties of simple structure, high precision of transmission system, long service life and easy to manufacture. When maintenance and installation of the wrist, the harmonic reducer and transmission parts will be no need to be separated and adjusted.
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龚仲华,龚晓雯.单元结构的工业机器人手腕设计[J].机床与液压,2017,45(21):89-91. . Design of Industrial Robot Wrist with Unit Structure[J]. Machine Tool & Hydraulics,2017,45(21):89-91