公开(公告)号：US11446814B2

公开(公告)日：2022-09-20

申请号：US17286780

申请日：2020-06-01

Applicant: DALIAN UNIVERSITY OF TECHNOLOGY

Inventor： Yongshun Zhang ,  Dianlong Wang ,  Zhenqiang Yang ,  Pengzhi Jia

IPC: B25J9/12 ,  B25J17/02

Abstract: An electromagnetic drive spherical robotic wrist with two degrees of freedom and a control method therefor, which is particularly a highly integrated active spherical robotic wrist, realizes pitch and yaw rotation with two degrees of freedom under the direct drive of a coaxial following magnetic torque of a spatial universal rotational magnetic field through a built-in permanent magnet cylinder with radial magnetization of a following mechanism formed by coaxial connection of two output ends of internal and external universal joints with the same rotation center. The electromagnetic drive spherical robotic wrist overcomes the disadvantages of a complex transmission mechanical wrist, and a wrist transmission system has a simple and light structure, high transmission efficiency, good static and dynamic performance, and fast control response.