56 results about "Robot wrist" patented technology

The invention belongs to the technical field of flange manufacturing, and provides a mechanism for reducing abrasion of a wrist flange plate of a six-axis robot. A groove structure is arranged on the matching surface of the wrist flange plate and the pressing ring and comprises a first groove and a first elastic body, a boss embedded into the pressing ring is arranged in the center of the wrist flange plate, the first groove surrounds the boss, the first elastic body is arranged in the first groove, one side of the first elastic body is in contact with the wrist flange plate, and the other side of the first elastic body is in contact with the pressing ring. The other side of the first elastic body contacts with the pressing ring. By changing the structure, complete rigid connection is converted into elastic and plastic connection, so that abnormal abrasion is reduced, and the service life of the wrist flange plate is prolonged; lubricating oil is stored, so that the friction coefficient between parts is reduced, and the impact of abnormal clamping and collision of the external clamping jaw can be absorbed; the elastic body is arranged between the wrist flange plate and the pressing ring, fixing reliability between the wrist flange plate and the pressing ring is improved, and machining requirements are reduced.

The utility model discloses a robot wrist and a robot. The robot wrist comprises a forearm body, a wrist body and an autorotation driving mechanism. The rotation driving mechanism is used for driving the actuator to rotate around a J6 axis relative to the wrist body; and the rotation driving mechanism and the wrist body as a whole rotate around a J5 axis relative to the forearm body so as to drive the actuator to rotate around the J5 axis. The wrist body comprises a mounting cavity extending along the J6 axis, and the mounting cavity comprises a mounting cavity side wall perpendicular to the J6 axis. The autorotation driving mechanism comprises an autorotation motor and an autorotation speed reducer used for being connected with an actuator. The autorotation speed reducer is mounted on the outer side of the side wall of the mounting cavity. The rotation motor is directly installed on the inner side of the side wall of the installation cavity under the positioning effect of the positioning mechanism and located in the installation cavity. The motor shaft of the autorotation motor is connected with the autorotation speed reducer through the through hole in the side wall of the mounting cavity, so that the autorotation motor is high in mounting precision and simple to mount through combination of a positioning function and direct mounting.

The invention relates to a robot wrist and an assembling method thereof, the robot wrist comprises a fixing seat and a mounting frame, and the mounting frame is connected to the fixing seat; a driving driving module and a driven driving module are arranged on the mounting frame, and the driven driving module is connected with an output flange capable of outputting left and right yawing actions; the driving driving module is in transmission connection with the driven driving module through a belt transmission assembly, so that the driving driving module can drive the driven driving module to perform up-and-down pitching action on the mounting frame; an idle wheel capable of moving up and down is connected to the mounting frame and can press down at least one part of the transmission belt; the device further comprises a falling weight, and the falling weight is detachably connected to the idle wheel in a hung mode and used for adjusting the tensioning force of the transmission belt through the gravity of the falling weight.

A system or methodology for controlling the movement of a robot (600) using actuators, the system may include one or more first type actuators (1002) positioned at the robot's torso, shoulder, and hip positions, one or more second type actuators (1004) positioned at the robot's wrist positions, one or more third type actuators (1006) positioned at the robot's wrist positions, one or more fourth type actuators (1008) positioned at the robot's elbow and ankle positions, one or more fifth type actuators (1010) positioned at the robot's torso and hip positions, and one or more sixth type actuators (1012) positioned at the robot's knee and hip positions.

The invention relates to a robot (1) comprising a robot base (2), a rotatable robot limb (5), a proximal robot arm (6), a distal robot arm (7), and a robot wrist axis (8). The invention provides that the first robot axis (A1) lies between the robot base (2) and the rotatable robot limb (5), and the fourth robot axis (A4) lies between the distal robot arm (7) and the robot wrist axis (8), in offset planes independent of the robot's position.

The utility model provides a wrist structure of industrial robot belongs to the technical field of robot, it has solved the wrist structure of existing industrial robot to be difficult to guarantee the technical problem of sealing while improving the convenience of wiring. The wrist structure of this industrial robot, including including box and wrist shell, wrist shell rotates and is connected on the box, and the wrist shell includes the body and the wire outlet cylinder that is annular, the outside of body has the annular boss, one end face of wire outlet cylinder has the annular positioning convex ring, and the wire outlet cylinder is coaxial with the boss and is fixedly connected, and the positioning convex ring is coaxially positioned and inserts in the boss. The utility model has considered the sealing and the convenience of wiring of robot wrist.

The present application relates to the technical field of surgical robots, and discloses a wrist mechanism, a master manipulator, a master console and a surgical robot. The wrist mechanism comprises a rotating assembly, a first wrist connecting rod, a rotating shaft and a compensation assembly. The rotating assembly is connected to a first end of the rotating shaft, the rotating shaft is horizontally arranged and rotatably arranged in the first wrist connecting rod, and the compensation assembly comprises a flexible member, an elastic member, a winding member and two guide wheels. One end of the elastic member is connected to the first wrist connecting rod, the winding member is connected to a second end of the rotating shaft, the gravity center of the winding member and the rotating assembly is respectively located on the two sides of the rotating shaft axis, the guide wheels are rotatably connected to the first wrist connecting rod, the guide wheels are located below the rotating shaft, one end of the flexible member is connected to the winding member, the flexible member passes through the gap between the two guide wheels and is connected to the elastic member. The present application can balance the gravity of the rotating assembly, is beneficial to relieving the fatigue of the operator, improves the safety of the operation, simultaneously reduces the possibility of structural damage, reduces the maintenance cost and the production cost.

The invention relates to a mobile TCP calibration method for an industrial robot, which is characterized by comprising the following steps of: 1, setting a wrist coordinate system {R} taking a wrist end point of the robot as an original point; the initial tool coordinate system {T0} is set, the initial tool coordinate system takes the TCP as the original point TCP0, and the setting direction of the tool coordinate system {T0} is the same as that of the robot wrist coordinate system {R. The method is simple, easy to operate, extremely small in calculated amount and high in calibration accuracy. The calibration accuracy is improved in actual work, and a large amount of time is saved.

The utility model provides an automatic welding robot for building steel members, and relates to the technical field of welding robots. The top end face of the fixed base is rotationally connected with a robot big arm. The upper part of the robot big arm is rotationally connected with a robot crutch rod; the front part of the robot crutch rod is rotationally connected with a robot forearm; a robot wrist is rotationally connected into the robot forearm; a robot welding gun is arranged at the tail end of the robot wrist part; two mounting seats are symmetrically and fixedly connected to the bottom end surface of the robot welding gun; and a connecting rotating rod is rotationally connected into each of the two mounting seats. An electric push rod is started while the welding robot is used for welding, and then a connecting rotating rod drives an anti-splashing cover to be closed through a series of transmission to cover a robot welding gun and a welding area, so that the problem that welding slag splashes everywhere and easily falls out of the welding working area is solved; and the surrounding environment is polluted, and meanwhile, surrounding workers are easily injured.

To provide a system and a method for controlling a gripping force or an opening force of a surgical tool such as a wrist jaw of a robot-assisted surgical system.SOLUTION: The grip force generated by closing the robot wrist jaws while operating in the position mode in which the jaws are commanded to the desired jaw angle before being commanded to generate the grip force is limited, and the opening force generated by the robot wrist jaws operating in the position mode in which the jaws are commanded to the desired jaw angle is maintained. It also achieves a smooth transition in grip force when the wrist jaws transition between the position and force modes.SELECTED DRAWING: Figure 7

The invention discloses a forward and inverse kinematics calculation method for a 2-SPS-1U parallel mechanism of a humanoid robot, and relates to the technical field of humanoid robots. Inverse kinematics calculation includes the steps that the pitch angle and the roll angle of a wrist, the inherent position of a spherical hinge point at the tail end of an SPS branched chain and the fixed translation vector of a wrist rotating shaft base coordinate system relative to a driving motor coordinate system are obtained; and constructing an attitude rotation matrix to convert the tail end spherical hinge point to a real-time coordinate, converting the real-time coordinate to a driving motor coordinate system by combining a fixed translation vector, and calculating a coordinate vector modulus length to obtain a branched chain telescopic length. The forward kinematics solution comprises the steps of obtaining the actually measured length and constant parameters of the branched chain, and constructing a nonlinear equation set by taking a roll angle and a pitch angle as unknown quantities; and solving by combining a two-dimensional residual vector with a Newton iteration method, estimating a Jacobian matrix by using a finite difference method in iteration, and outputting an attitude angle when the residual is smaller than a threshold value. The method is accurate and stable in calculation and adapts to the robot wrist joint control requirement.

According to the wrist structure of the humanoid robot and the humanoid robot, the universal joint structure is adopted for the wrist structure, and on the basis that a pitching rotating shaft and a rolling rotating shaft intersect, the intersection point is located in the structural center of the universal joint, so that no matter how the wrist of the robot tilts up and down, swings left and right and the like, the robot can stably rotate. The two central axes of pitching motion and left-right swing intersect at one point all the time, the structure is more compact, and due to the structure, when the wrist of the robot moves, the sweeping space of the motion is small; the structural design of the cross shaft is a structural form closest to wrist movement, and the wrist movement is in up-down and left-right symmetry, so that subsequent hand control and algorithm analysis are facilitated.

The utility model relates to the technical field of robots, in particular to a robot wrist joint steering structure which comprises a mechanical arm body, one end of the mechanical arm body is fixedly connected with two symmetrical L-shaped plates through bolts, and one end of the mechanical arm body is provided with a connecting plate through bolts. A double-end motor is installed at the other end of the connecting plate, the output end of the double-end motor is fixedly connected with the frame wall of the concave frame, the small mechanical arm is connected to the frame wall of the concave frame through a bolt, a mechanical arm body drives the small mechanical arm to rotate reversely, and the small mechanical arm drives the mechanical hand to rotate. The operation efficiency is improved in the scene that the mechanical arm rapidly switches the direction or bypasses the obstacle.

The invention relates to the technical field of industrial robots, in particular to a stacking robot wrist supporting structure and a rigidity calibration method. The structure comprises a forearm and a wrist, and the connecting end of the forearm and the connecting end of the wrist are each of a U-shaped structure. The small arm comprises a left small arm hinge lug and a right small arm hinge lug; the wrist comprises a left wrist hinge lug and a right wrist hinge lug; the left forearm hinge lug and the right forearm hinge lug are located on the inner side of the left wrist hinge lug and the inner side of the right wrist hinge lug respectively, the left forearm hinge lug and the left wrist hinge lug are hinged through a left short shaft assembly, and the right forearm hinge lug and the right wrist hinge lug are hinged through a right short shaft assembly. The supporting rigidity of the wrist is improved, the supporting rigidity can be adjusted while the axial relative position of the wrist and the forearm meets the bearing pre-pressing requirement, and the axial rigidity of the two hinge lugs of the wrist and the two hinge lugs of the forearm is improved.

The present invention relates to a vertical multi-joint robot wrist axis fastening structure. The present invention comprises: 5-axis bevel gear A having the other end connected to a 5-axis shaft, a bevel gear crest being formed on one end of the 5-axis bevel gear A, and the 5-axis bevel gear A being supported at a 6-axis shaft via a bearing; 5-axis bevel gear B meshing with a thread of the 5-axis bevel gear A at one end of the 5-axis shaft so as to convert the axis of rotation perpendicularly, the 5-axis bevel gear B being coupled to the input axis of a 5-axis reducer and fixed by a first nut; 6-axis bevel gear A positioned on the front end of a 6-axis shaft while being fixed by a second nut, the 6-axis bevel gear A having a bevel gear crest meshing with a bevel gear crest formed on one end of 6-axis bevel gear B for converting the axis of rotation perpendicularly; 6-axis bevel gear B having a bevel gear crest formed on one end thereof so as to mesh with the 6-axis bevel gear A, and having a spur gear crest formed on the other end thereof; 6-axis bevel gear C having a bevel gear crest formed on one end thereof so as to mesh with 6-axis bevel gear D, and having a spur gear crest formed on the other end thereof so as to mesh with the 6-axis bevel gear B; and 6-axis bevel gear D having a bevel gear crest formed on one end thereof so as to mesh with the 6-axis bevel gear C, the other end of the 6-axis bevel gear D being fixed to the input axis of a 6-axis reducer by a third nut. The position in which the 5-axis bevel gear A and the 5-axis bevel gear B mesh and position in which the 6-axis bevel gear A and the 6-axis bevel gear B mesh are determined such that respective axes of rotation are arranged on the same straight line.

The present invention belongs to the field of flange manufacturing technology, and provides a wear reduction mechanism for a wrist flange of a six-axis robot. The present invention includes a wrist flange and a pressure ring, and the mating surfaces of the wrist flange and the pressure ring are provided with a groove structure, and the groove structure includes a first groove and a first elastomer, and a boss embedded in the pressure ring is provided at the center of the wrist flange, and the first groove surrounds the boss, and a first elastomer is provided in the first groove, and one side of the first elastomer contacts the wrist flange, and the other side of the first elastomer contacts the pressure ring. Through the above-mentioned structural changes, the completely rigid connection is transformed into a connection method with elasticity and plasticity, thereby reducing abnormal wear and extending the service life of the wrist flange; storing lubricating oil reduces the friction coefficient between components, and can absorb the impact of abnormal clamping and collision of the external clamp; an elastomer is provided between the wrist flange and the pressure ring to improve the fixation reliability between the wrist flange and the pressure ring and reduce processing requirements.

The application provides a quick assembly device and method for a robot wrist assembly, the assembly device comprising a left side plate and a right side plate vertically arranged on both sides of the assembly device, and a detachably connected upper cover plate and a lower bottom plate arranged in a horizontal direction between the left side plate and the right side plate, wherein the distance between the lower surface of the upper cover plate and the upper surface of the lower bottom plate is the same as the distance between the upper surface of the upper plate of the wrist assembly and the lower surface of the lower plate of the wrist assembly, and the upper cover plate is provided with an assembly hole. The method comprises placing the wrist assembly into the assembly device for accurate height and parallelism adjustment. The application can quickly and accurately make the upper plate of the wrist assembly and the lower plate of the wrist assembly reach a fixed assembly distance, and also make the upper plate of the wrist assembly and the lower plate of the wrist assembly reach accurate parallelism. Therefore, the quick assembly device and method provided by the application have the advantages of simplicity, quickness and high accuracy when assembling the wrist assembly.

The utility model relates to the technical field of robot assemblies, and discloses a robot wrist connecting assembly which comprises a supporting assembly, an outer cylinder is fixedly assembled on the side face of the supporting assembly, a sliding cylinder is slidably connected to the inner wall of the outer cylinder in a sleeved mode, a circular plate is fixedly assembled on the side face of the sliding cylinder, and a fixing plate is fixedly assembled on the side face of the circular plate. A motor is fixedly assembled on the side face of the fixing plate, an output shaft of the motor is fixedly sleeved with a driving gear, a rotating gear is rotationally connected to the side face of the fixing plate, and convex teeth on the outer edge of the rotating gear are meshed with convex teeth on the outer edge of the driving gear. Through cooperative use of the motor and the driving gear, the motor is used for driving the driving gear to rotate, the driving gear is used for driving the rotating gear to rotate, the rotating gear is used for driving the replacement part to rotate, the air cylinder is used for pushing the auxiliary plate to move on the side face of the rotating gear, and therefore the auxiliary plate is used for driving the replacement part to conduct small-amplitude adjustment.

The utility model relates to assembling equipment and a robot assembling production line. The assembling equipment comprises a rack, the first assembling unit comprises a first mounting body and a first driving assembly, the first mounting body is rotationally arranged on the rack, a first output shaft of the first driving assembly is connected with the first mounting body so as to drive the first mounting body to rotate with the first output shaft as the center, and the first output shaft extends in the first direction; the first wrist body is detachably connected with the first mounting body; the second assembling unit comprises a second mounting body, a second driving assembly and a lifting assembly, the second mounting body is movably arranged on the rack and can move in the first direction and the second direction, and the second direction is perpendicular to the first direction. According to the robot wrist body assembling device, the manual assembling process of robot wrist bodies can be assisted, so that the robot wrist bodies can be conveniently installed, the labor intensity of operators can be relieved, the assembling efficiency of a robot can be effectively improved, and it can be guaranteed that the installing precision meets the standard.

The invention discloses a high-load mechanical arm for an industrial robot, and relates to the technical field of industrial robot design, the high-load mechanical arm comprises a robot forearm shell and further comprises an angle adjusting device, a first mounting table is fixedly mounted in the robot forearm shell, and a second mounting table is fixedly mounted on the robot forearm shell; the angle adjusting device comprises a five-axis servo motor, a five-axis servo motor belt wheel, a five-axis synchronous belt, a five-axis speed reducer belt wheel, a robot wrist, a six-axis servo motor, a six-axis servo motor belt wheel, a six-axis synchronous belt and a six-axis speed reducer belt wheel, and the five-axis servo motor and the six-axis servo motor are used for carrying out staggered space design to guarantee installation. The vertical thickness size of the small arm can be compressed within the maximum range, the size of the small arm is reduced, the weight of the small arm is reduced, and meanwhile the effective load of the robot is improved to the maximum degree.

The utility model relates to a wrist structure, a mechanical arm and a robot, the wrist structure comprises a first rotating shaft, a first connecting piece, two telescopic driving pieces and adapters correspondingly connected with the telescopic driving pieces, the adapters are provided with clamping holes connected to ball bearings in a sleeving mode, and the central axes of the telescopic driving pieces are not perpendicular to the axes of the clamping holes. Through the telescopic action of the two telescopic driving pieces, the left-right swing action of the end effector connected with the second connecting piece can be achieved. Due to the fact that the central axis of the telescopic driving part is not perpendicular to the axis of the clamping hole, used for being connected with the ball bearing in the sleeving mode, in the adapter, the time point when the adapter part on the side interferes is effectively delayed, and then the end effector can reach or approach the limit angle of the end effector in the swinging process no matter the end effector swings leftwards or rightwards. The swing angle of the wrist structure is maximized, the use adaptability of the wrist structure is improved, and more possibilities are provided for application scenes of the wrist structure.

The invention discloses a wrist structure, a mechanical arm and a robot, the wrist structure comprises a supporting piece, a rotary driving mechanism, a palm base and a linear driving mechanism, and the first end of the supporting piece is suitable for being connected with an arm mechanism; the rotary driving mechanism is rotationally connected to the second end of the supporting piece; the palm base is connected to the rotation driving mechanism, the rotation driving mechanism can drive the palm base to rotate in the first direction, the linear driving mechanism is rotationally connected to the first end, the rotation driving mechanism is connected to the output end of the linear driving mechanism, and the output end can reciprocate to drive the rotation driving mechanism to swing in the second direction relative to the supporting piece. Through the cooperation of the rotary driving mechanism and the linear driving mechanism, the movement control of the palm mechanism on two degrees of freedom can be realized without arranging complex transmission and connection structures, the complexity of the wrist structure is reduced, the accurate control of the palm mechanism is facilitated, the humanoid effect is improved, and the production and use cost can be reduced.

The utility model relates to a kind of multifunctional actuators based on adjustable radial flexible pneumatic clamping jaw.The improvement points are as follows: ①including substrate, symmetrically mobile installation's first movable plate and second movable plate, and radial adjusting assembly;②radial adjusting assembly is driven double movable plate along slide rail synchronous forward / reverse translation by positive and negative tooth screw, and the diameter of annular grabbing array is adjusted;③six groups of oil-resistant nitrile rubber flexible pneumatic clamping jaw are distributed below movable plate, form centripetal closed force field, and the anti-skid of clamping surface convex texture is enhanced;④pneumatic shear has inner concave arc blade edge, and supports shearing-grabbing collaborative work;⑤actuator is integrated in six-axis robot wrist, and realizes global operation with mobile platform.The utility model realizes the continuous stepless adjustment of the diameter of annular grabbing array, adapts the grabbing of different size products or workpieces, and has the advantages of redundancy slide rail anti-overturning, force field distribution uniformity reduces the breakage rate of fragile parts, multifunctional integration improves operation continuity and the like.

Gripping device for the automated handling of sterile goods containers, comprising - a gripper base adapted to be attached or attachable to a wrist of a robot; - a first arm and a second arm, each having a rigid geometry; - are aligned on the gripper base in its longitudinal direction parallel to a main axis of the gripping device and arranged at a distance from one another; - each have a rotatable shaft, with the shafts located on a main axis parallel to the longitudinal axis of the respective arm; - wherein the spacing of the first arm from the second arm is arranged such that, in a first orientation of the gripping device, a first sterile goods container with a first predetermined width can be received by a first support surface of the arms; - wherein the spacing of the first rotatable shafts is arranged such that, in a second orientation of the gripping device, a second sterile goods container with a second predetermined width can be received by the rotatable shafts; and - wherein the first predetermined width is greater than the second predetermined width.

The invention relates to a humanoid flexible robot wrist joint with variable rigidity. The humanoid flexible robot wrist joint is used for solving the problems that an existing flexible robot wrist joint is insufficient in humanoid performance and limited in load capacity. According to the scheme, the device comprises three corrugated pipe actuators and a variable-rigidity module, and the variable-rigidity module is surrounded by the three corrugated pipe actuators; the three corrugated pipe actuators form different length combinations by controlling the air pressure in the three corrugated pipes, bending movement of a non-fixed rotation center is achieved, and the load capacity is adjusted by controlling the negative pressure of the variable rigidity module. The variable-rigidity module comprises a lower fixing end plate and an upper fixing end plate with holes, a silica gel film is bonded between the upper fixing end plate and the lower fixing end plate to form a cavity, vertical fibers are arranged on the inner side of the cavity, one end of each fiber is planted on the upper fixing end plate or the lower fixing end plate, friction is generated between the fibers in the bending movement, and the fibers are fixed to the lower fixing end plate. And rigidity adjustment of the variable-rigidity module is realized.

1. Name of the product in this design: Robot Wrist (R280A-320). 2. Application of this design: This design is used for the wrist part of an industrial robot. 3. The key design feature of this product is its shape. 4. The image or photograph that best illustrates the design's key points: a 3D model.

The application discloses a humanoid robot wrist connecting rod transmission structure, comprising: a mechanical arm bone plate, the mechanical arm bone plate has two opposite ends, a first shaft hole is formed in one end of the mechanical arm bone plate, a support shaft is rotatably installed in the first shaft hole, and the support shaft is connected with a connecting shaft; a shaft sleeve, the connecting shaft is rotatably sleeved with the shaft sleeve at two ends; a connecting piece, the side of the connecting piece away from the palm component is formed with two oppositely arranged lug plates, the lug plate is provided with a second shaft hole, and the shaft sleeve at the two ends of the connecting shaft is rotatably arranged in the second shaft hole of the two lug plates; two linear driving mechanisms, one end of the two linear driving mechanisms is respectively spherically hinged to the opposite sides of the mechanical arm bone plate, the other end of the linear driving mechanism is hinged with an adapter, the adapter is connected to the shaft sleeve, and the adapter is formed with an actuating part for turning the lug plate. The application solves the problem that the wrist is bloated and the overall proportion is not coordinated after the driving actuator is directly placed at the wrist joint of the humanoid robot.

The application discloses a robot tool operation method and device based on real object reinforcement learning, and belongs to the technical field of robots. The method comprises the following steps: pre-training a policy network based on demonstration trajectory data through imitative learning, wherein the policy network takes the state information of a robot body and the image of a robot wrist as input, and outputs action parameters conforming to a Gaussian distribution; taking the pre-trained policy network as an initial policy, and performing reinforcement learning training in a real robot environment, wherein the relative pose domain randomization of a tool-camera based on a dual-arm robot platform is implemented to generate diversified training data for reinforcement learning; and deploying the trained policy network to make the robot adapt to different tool poses and complete a specified tool operation task. The application can realize robot tool operation with higher precision, stronger robustness and wider adaptability in an actual physical environment.

The invention discloses a robot tool operation method and device based on object reinforcement learning, and belongs to the technical field of robots, and the method comprises the steps: pre-training a strategy network through imitation learning based on teaching track data, and enabling the strategy network to take robot body state information and a robot wrist image as input, outputting action parameters conforming to Gaussian distribution; the pre-trained strategy network serves as an initial strategy, reinforcement learning training is carried out in a physical robot environment, and tool-camera relative pose domain randomization based on a double-arm robot platform is carried out to generate diversified training data used for reinforcement learning; and deployment is carried out based on the trained strategy network, so that the robot adapts to different tool poses and completes a specified tool operation task. According to the method, robot tool operation with higher precision, higher robustness and wider adaptability can be realized in an actual physical environment.

The application discloses a kind of human-shaped robot 2-SPS-1U parallel mechanism's positive and inverse kinematics solution method, it is related to human-shaped robot technical field, inverse kinematics solution includes obtaining wrist pitch angle, roll angle, SPS branch chain end ball hinge point inherent position, and the fixed translation vector of wrist rotating axle seat coordinate system relative to drive motor coordinate system;End ball hinge point is converted to real-time coordinates by constructing posture rotation matrix, combined with fixed translation vector conversion to drive motor coordinate system, the length of coordinate vector module is calculated Branch chain extension length.Positive kinematics solution includes obtaining branch chain measured length and constant parameter, with roll angle, pitch angle as unknown quantity to construct nonlinear equation group;It is solved by two-dimensional residual vector combined with Newton iteration method, Jacobian matrix is estimated by finite difference method in iteration, and when residual is less than threshold value, output posture angle.This method is accurate and stable, adapts to robot wrist joint control demand.