Abstract
The joint manipulator is a transmission device suitable for operation close to the body, which can realize multiple degrees of freedom and move flexibly. In this paper, through the transmission analysis of the big arm, the small arm, the wrist and the other parts of the manipulator, a kind of joint manipulator used in the transportation pipeline is proposed, and a three-degree-of-freedom wrist transmission mechanism is designed. On this basis, the structure of the wrist transmission parts is analyzed and designed, and the mechanical analysis and strength check of the gear connecting shaft of the wrist part are carried out.
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