球齿轮传动原理与加工方法研究
|
摘要
大多数的生物肢体关节都具有多自由度运动特性。随着机器人与仿生机械技术的发展，要求这类机械的运动关节也具有仿生运动特性，而传统的单自由度齿轮机构难以满足这种要求，工程上迫切需要多自由度新型齿轮机构的出现。本文的研究正是基于这种背景进行的。在国家自然科学基金的资助下，本文提出了一种全新的渐开线环形齿球齿转机构，并系统研究了这种新型齿轮传动原理；建立了运动分析模型，通过动态图形仿真研究，验证了理论研究的正确性；论文还研究了渐开线齿廓球齿轮的范成法切削加工方法，研制了相应的切削加工试验装置。本文的主要研究成果如下：
1．发明了渐开线环形齿球齿轮机构。通过对国外著名学者Ole.monlang发明的离散齿球齿轮的深入分析，发现该球齿轮存在传动原理性误差和加工困难两大缺陷。而产生这些缺陷的根本原因一是轮齿在球面上呈离散分布，二是凸齿齿廓为直线。本文创造性地提出了采用工程上广泛应用的渐开线作为齿廓曲线，并将轮齿沿纬度方向在球面上呈连续分布的设计思想，在此基础上发明了渐开线环形齿球齿轮机构，实物模型证明，该机构从根本上克服了传统离散齿球齿轮存在的传动原理误差和加工困难两大障碍，在齿轮传动领域取得了重大突破。
2．建立了新型球齿轮传动的理论体系。由于渐开线环形齿球齿轮机构为本文首创，相关的理论体系为空白。为此，本文首次提出了球齿轮传动中若干新概念，新名词，并对物理含义作了完整的定义；提出了球齿轮机构的正确啮合条件和连续传动条件；利用空间啮合理论，证明了一对渐开线环形齿廓互为共轭齿廓，能实现精确的定传动比球面运动。利用方向余弦矩阵分析法建立了球齿轮机构和球齿轮齿盘机构的运动分析模型，为执行机构的控制系统设计提供了理论依据。
3．研制了基于球齿轮传动的机器人柔性手腕机构。由于结构上的限制，理论上，一对球齿轮的传动范围被限制在-90°≤θ≤90°之间，为了获得偏摆角大于90°的实用机构，本文解决了多对球齿轮串联安装问题。所研制的柔性手腕机构采用了由三对球齿轮传动串联而成的空间三重系杆行星轮系结构，可实现全方位的任意偏摆，其输出轴最大偏摆角度可达136°，具有良好的运动柔性。而在输入摆角相同时，国外著名的Trallfa柔性手腕的最大偏摆角度只有88°。
4．提出了复杂机械系统运动三维图形仿真的一般原理和实现方法。通过将空间机构学齐次矩阵变换原理和计算机图形学原理相结合，提出了以空间多杆开式链机构为代表的复杂机械系统运动三维图形仿真的一般原理和方法。采用编程法完成了多种用交互式操作难以实现的以球齿轮为代表的典型复杂零件的实体造型。设计了零件装配中采用的典型拼装算法。分别以球齿轮机构、
国防科学技术大学研究生院学位论文
球齿轮齿盘机构和柔性手腕机构为对象进行了运动仿真，验证了理论分析模
型的正确性。
5.提出了球齿轮传动的范成法切削加工方法，并研制了切削加工原理性试验装
置。范成法加工的理论依据在于一对球齿轮的齿廓曲面互为共扼曲面，它们
在传动过程中互为包络面，如果将其中的一个球齿轮的齿廓做成刀具，另一
个为被加工齿轮的毛坯，由机床传动系统保证两者之间的啮合运动，就可以
加工出球齿轮。依据上述原理，本文提出了范成法车削和铣削两种传动系统
的设计方案，并对车削法方案进行了实施。试验结果证明提出的球齿轮范成
法加工原理是正确的。
Mjpst of creature's joint have motion characteristic of multidegree of freedom. With the development of the techonology of robot and biomechanics ,machine's motion joint also need this characteristic.But for traditional gear with single degree of freedom,it is difficult to meet it.We cry for the appearance of a flew type of gear with multidegree of freedom.|tujiy in this paper is just based on this situatioti.Supported by the National Fund Of Natural Science ,we bring forward a new type of spherical gear with ring involute tooth,and study the drive principle of it systemfcally; we set up motion analysing model and testify the theoretical study by dynamicfigure's simulation;we also study the "Generating method to manufacture the spherical gear with ring involute tooth form.and develop the corresponding experimental cutting set-up. The main production of this paper is following:
1. We invent the spherical gear with ring involute tooth. By an in-depth study on the spherical gear with discrete tooth that Ole.monlang has invented as a famous scholar,we found that this gear has two objections :errors in drive principle and difficulties in manufacturing.The essential cause that brirfg these objections are that tooth is distributed discretely on the spherical surface firstly, and that convex tooth form is beeline. Creatively,this paper advance involute as the tooth form that has been used widely in the engineering, and we also bring forward a design idea that tooth can be distributed continuously on spherical surface. Based on those ideas ,we invent the spherical gear of ring involute tooth .It is proved that this mechanism overcome the two big objections of traditional gear by solid model, and so a great breakthrough is achieved in the gear drive field .
2. We set up the theory system of this new type of gear . As this paper originate the gear ,the corresponding theory system is blank. So this paper bring forward several new concepts and new terms, and give the whole defmations to their physical meanings; advance the conditions of right gearing mesh and continuous drive; prove out that a pair of ring involute tooth forms are conjugated and that they can achieve precise spherical motion of constant transmitting ratio employing the space mesh theory. By the analysing method of direction cosine matrix ,we set up motion analysing model of spherical gear and fluted disc of this gear, thus provide the theoretical basis for control system design of actuating mechanism.
3. We develop the flexible wrist of robot based on spherical gear's drive . The range of theoretional driving of a pair of spherical gear is limited to -90 90 , this paper solve the problems of series fixing of spherical gears in series. And it's output shaft can swing in the orientation of 360?at will , and maximal swinging angle can reach 136 , so it possess favorable flexibilities of motion. While the maximal angle is just 88 of the famous flexible wrist of Trallfa when the input angle are equivalent to it.
4. We bring forward the general principle and implementation method of three-dimensional graphics of complicated mechanical system. Combining the homogeneous matrix transformation theory of space mechanism and computer graphics, we raise the general principle and motion simulation's method of complicated mechanism,which is represented by spacial multipole structure of open chain. Using programming ,we fulfill many solid modelling of typical complicated parts represented by spherical gears, which is difficult to complete
with interactive operation. We also devise a typical build-up algorithm during fitting assembling. Furthermore , we carry out motion simulation to the spherical gear, gear'sfluted disc and flexible wrist, thus confirm the theoretical analysing model.
5.We bring forward the Generating cutting method based on spherical gear drive,and develop experimental cutting set-up in principle. In theory, the Generating mehtod bases that the tooth form of a pair of gear is conjugated . During
1．发明了渐开线环形齿球齿轮机构。通过对国外著名学者Ole.monlang发明的离散齿球齿轮的深入分析，发现该球齿轮存在传动原理性误差和加工困难两大缺陷。而产生这些缺陷的根本原因一是轮齿在球面上呈离散分布，二是凸齿齿廓为直线。本文创造性地提出了采用工程上广泛应用的渐开线作为齿廓曲线，并将轮齿沿纬度方向在球面上呈连续分布的设计思想，在此基础上发明了渐开线环形齿球齿轮机构，实物模型证明，该机构从根本上克服了传统离散齿球齿轮存在的传动原理误差和加工困难两大障碍，在齿轮传动领域取得了重大突破。
2．建立了新型球齿轮传动的理论体系。由于渐开线环形齿球齿轮机构为本文首创，相关的理论体系为空白。为此，本文首次提出了球齿轮传动中若干新概念，新名词，并对物理含义作了完整的定义；提出了球齿轮机构的正确啮合条件和连续传动条件；利用空间啮合理论，证明了一对渐开线环形齿廓互为共轭齿廓，能实现精确的定传动比球面运动。利用方向余弦矩阵分析法建立了球齿轮机构和球齿轮齿盘机构的运动分析模型，为执行机构的控制系统设计提供了理论依据。
3．研制了基于球齿轮传动的机器人柔性手腕机构。由于结构上的限制，理论上，一对球齿轮的传动范围被限制在-90°≤θ≤90°之间，为了获得偏摆角大于90°的实用机构，本文解决了多对球齿轮串联安装问题。所研制的柔性手腕机构采用了由三对球齿轮传动串联而成的空间三重系杆行星轮系结构，可实现全方位的任意偏摆，其输出轴最大偏摆角度可达136°，具有良好的运动柔性。而在输入摆角相同时，国外著名的Trallfa柔性手腕的最大偏摆角度只有88°。
4．提出了复杂机械系统运动三维图形仿真的一般原理和实现方法。通过将空间机构学齐次矩阵变换原理和计算机图形学原理相结合，提出了以空间多杆开式链机构为代表的复杂机械系统运动三维图形仿真的一般原理和方法。采用编程法完成了多种用交互式操作难以实现的以球齿轮为代表的典型复杂零件的实体造型。设计了零件装配中采用的典型拼装算法。分别以球齿轮机构、
国防科学技术大学研究生院学位论文
球齿轮齿盘机构和柔性手腕机构为对象进行了运动仿真，验证了理论分析模
型的正确性。
5.提出了球齿轮传动的范成法切削加工方法，并研制了切削加工原理性试验装
置。范成法加工的理论依据在于一对球齿轮的齿廓曲面互为共扼曲面，它们
在传动过程中互为包络面，如果将其中的一个球齿轮的齿廓做成刀具，另一
个为被加工齿轮的毛坯，由机床传动系统保证两者之间的啮合运动，就可以
加工出球齿轮。依据上述原理，本文提出了范成法车削和铣削两种传动系统
的设计方案，并对车削法方案进行了实施。试验结果证明提出的球齿轮范成
法加工原理是正确的。
Mjpst of creature's joint have motion characteristic of multidegree of freedom. With the development of the techonology of robot and biomechanics ,machine's motion joint also need this characteristic.But for traditional gear with single degree of freedom,it is difficult to meet it.We cry for the appearance of a flew type of gear with multidegree of freedom.|tujiy in this paper is just based on this situatioti.Supported by the National Fund Of Natural Science ,we bring forward a new type of spherical gear with ring involute tooth,and study the drive principle of it systemfcally; we set up motion analysing model and testify the theoretical study by dynamicfigure's simulation;we also study the "Generating method to manufacture the spherical gear with ring involute tooth form.and develop the corresponding experimental cutting set-up. The main production of this paper is following:
1. We invent the spherical gear with ring involute tooth. By an in-depth study on the spherical gear with discrete tooth that Ole.monlang has invented as a famous scholar,we found that this gear has two objections :errors in drive principle and difficulties in manufacturing.The essential cause that brirfg these objections are that tooth is distributed discretely on the spherical surface firstly, and that convex tooth form is beeline. Creatively,this paper advance involute as the tooth form that has been used widely in the engineering, and we also bring forward a design idea that tooth can be distributed continuously on spherical surface. Based on those ideas ,we invent the spherical gear of ring involute tooth .It is proved that this mechanism overcome the two big objections of traditional gear by solid model, and so a great breakthrough is achieved in the gear drive field .
2. We set up the theory system of this new type of gear . As this paper originate the gear ,the corresponding theory system is blank. So this paper bring forward several new concepts and new terms, and give the whole defmations to their physical meanings; advance the conditions of right gearing mesh and continuous drive; prove out that a pair of ring involute tooth forms are conjugated and that they can achieve precise spherical motion of constant transmitting ratio employing the space mesh theory. By the analysing method of direction cosine matrix ,we set up motion analysing model of spherical gear and fluted disc of this gear, thus provide the theoretical basis for control system design of actuating mechanism.
3. We develop the flexible wrist of robot based on spherical gear's drive . The range of theoretional driving of a pair of spherical gear is limited to -90 90 , this paper solve the problems of series fixing of spherical gears in series. And it's output shaft can swing in the orientation of 360?at will , and maximal swinging angle can reach 136 , so it possess favorable flexibilities of motion. While the maximal angle is just 88 of the famous flexible wrist of Trallfa when the input angle are equivalent to it.
4. We bring forward the general principle and implementation method of three-dimensional graphics of complicated mechanical system. Combining the homogeneous matrix transformation theory of space mechanism and computer graphics, we raise the general principle and motion simulation's method of complicated mechanism,which is represented by spacial multipole structure of open chain. Using programming ,we fulfill many solid modelling of typical complicated parts represented by spherical gears, which is difficult to complete
with interactive operation. We also devise a typical build-up algorithm during fitting assembling. Furthermore , we carry out motion simulation to the spherical gear, gear'sfluted disc and flexible wrist, thus confirm the theoretical analysing model.
5.We bring forward the Generating cutting method based on spherical gear drive,and develop experimental cutting set-up in principle. In theory, the Generating mehtod bases that the tooth form of a pair of gear is conjugated . During
引文
[1] 吴鸿业，齿轮啮合原理，哈尔滨工业大学出版社，1979
[2] 金属切削机床，机械工业出版社，1979．2
[3] 上海纺织工学院等，机床设计图册，上海科学技术出版社 1979．6
[4] 吴序堂，齿轮啮合原理，机械工业出版社，1982
[5] 沈蕴方等，空间啮合原理及SG-71型蜗轮副，冶金工业出版社，1983
[6] 袁哲俊等，齿轮刀具设计，新时代出版社，1983．9
[7] 顾维邦，金属切削机床，机械工业出版社，1984．6
[8] 苏联φ·π·李特文，齿轮啮合原理，上海科技出版社，1984
[9] 张启先，空间机构的分析与综合，机械工业出版社，1984
[10] 任敬心等，齿轮工程学，国防工业出版社，1985．11
[11] 戴曙，金属切削机床设计，机械工业出版社 1985．12
[12] 哈尔滨工业大学机械原理教研室，齿轮啮合原理及微分几何，上、下册，1985
[13] 李华敏，渐开线齿轮的几何原理与计算，机械工业出版社，1985
[14] 陈惟荣等，齿轮啮合原理，煤炭工业出版社，1985
[15] 机床设计手册编写组，机床设计手册，机械工业出版社 1986．12
[16] 理查德．P．保罗，机器人操作手：数学、编程与控制，机械工业出版社，1986
[17] 牧野洋等，空间机构及机器人机构学，机械工业出版社，1987
[18] 蔡自兴，机器人原理及其应用，中南工业大学出版社，1988
[19] 黄真，空间机构学，机械工业出版社，1991
[20] 潘存云，双重系杆平面差动轮系工业机器人柔性手腕的设计与分析，首届全国机器人学术讨论会论文集，1987
[21] 潘存云等，柔性手腕结构及动作原理分析，首届全国机器人学术讨论会论文集，1987
[22] 潘存云，一种工业机器人柔性手腕的设计与分析，国防科技大学学报，1987第四期
[23] 刘志全等，锥形齿球面齿轮传动的研究，齿轮，1990(3)
[24] 高业田，双自由度共轭曲面啮合理论，哈尔滨工业大学学报，1989第四期
[25] 黄及葆，曲线曲面的数值表示和逼近，上海科技出版社，1990
[26] 佟桂林，用瞬时转轴综合球面齿轮四连杆机构，哈尔滨电工学院学报．1990，13(4)
[27] 刘志全等，机器人柔性关节准椭球面齿轮传动—节曲面的优化设计，机器人，1990(12)
[28] 改变齿形并具特色之圆锥形齿轮及球形齿轮，机械月刊(台湾)1991(1)
[29] 山崎隆 杨义雄，改变齿形并具特色之圆锥形齿轮及球形齿轮，机械月刊(台湾)．1991，(7)．-131-138
[30] 李瑰贤等，机器人柔性关节准椭球面齿轮传动—齿形分析与设计，机器人，1991(4)
[31] 潘存云，用逆推法进行平面复杂机构的运动分析，《国防科技大学学报》，1991．2
[32] 潘存云、机器人作业运动的计算机图形仿真，《国防科技大学学报》，1991．3
[33] 潘存云，机器人运动仿真若干技术问题研究，全国第五届机构学会议论文集，1991
[34] 潘存云，工业机器人运动仿真系统—IRKSS，《机器人》，1992．1
[35] 潘存云，一个基于图形的机器人运动仿真系统，《系统仿真学报》，1991．2
[36] 潘存云，几种新型机器人手腕机构剖析，机械与电子，1991第二期
[37] 张春生，喷漆机器人柔性手腕的设计与分析，第三届全国机器人学术讨论会论文集，1991
[38] 潘存云，用体素贴合法构造机器人的三维几何模型，《国防科技大学学报》，1992．1
[39] 潘存云，Trallfa全方位手腕的结构及动作原理分析，全国学术会议论文集，1992
[40] 刘志全，机器人柔性关节准椭球面齿轮传动原理与设计，哈尔滨工业大学硕士论文，1992
[41] 李瑰贤，李华敏等，内环面准椭球齿轮传动的界限曲线，计算机在机械工业中的应用，国际会议论文集，1992
[42] 李瑰贤，李华敏等，准椭球齿轮传动的图形仿真，第五届机械传动年会论文集第一分册机构学，1992
[43] 唐其林，球形渐开线齿轮滚刀的研究，机械制造与自动化，1992(1)
[44] 潘存云，齿轮家族中的新成员—球形齿轮机构，吉林工业大学学报，1992增刊
[45] 郭吉丰，机器人柔性手腕球面传动的原理与设计，哈尔滨工业大学硕士论文，1992
[46] 朱龙根等，机械系统设计，机械工业出版社，1992．5
[47] 太原市金属切削刀具协会，金属切削实用刀具技术，机械工业出版社，1993．11
[48] 潘存云，多自由度复合运动关节机构设计与分析，国防科技大学校庆四十周年论文集，1993
[49] 毕诸明，机器人关节内环面齿准椭球齿轮传动及其图形仿真，哈尔滨工业大学硕士论文，1993
[50] 林国成等，球面齿轮传动的强度分析，机械传动，1993(4)
[51] 林国成、常山，球面齿轮传动的强度分析，机械传动．1993，17(4)
[52] 潘存云，球齿轮传动原理探讨，机械科技的未来—青年科学家论坛，机械工业出版社，1994
[53] 吴波，机器人柔性手腕图形仿真结果改进，哈尔滨工业大学硕士论文，1994
[54] 刘鹄然，谷雨，圆锥形凹齿球面齿轮传动，传动技术，1994，2
[55] 常山，陈荣增，球面齿轮传动的强度研究，热能动力工程．1994，9(1)．54-58
[56] 张昆等，机器人柔性手腕的球面齿轮设计研究，清华大学学报：自科版 1994(2)
[57] 张国荣，用于机器人精密装配的可变柔性手腕，江苏机械制造及自动化，1994(6)
[58] 常山等，球面齿轮传动的强度研究，热能动力工程，1994(1)
[59] 江甫炎，近代齿轮制造工艺，航空工业出版社，1994．6
[60] 范云涨等，金属切削机床设计简明手册，机械工业出版社，1994．7
[61] 罗昆，基于球形齿轮传动的柔性手腕的研究，国防科技大学硕士学位论文，1995
[62] 刘献锋、潘存云等，基于球形齿轮传动的柔性手腕动作原理及其运动分析，机器人，1996第四期
[63] 尚建忠、潘存云，球齿轮传动及其造型研究，机械科学与技术，1996第9期
[64] 潘存云等，球齿轮传动理论与运动分析，机械设计与研究，1996第12期
[65] 潘存云等，球齿轮机构及其应用，机械科学与技术，1997第一期
[66] 刘宪锋，基于球形齿轮传动的柔性腕微机控制系统，国防科技大学硕士学位论文，1996
[67] 李华敏 吴波，圆锥形凹齿球面齿轮传动，哈尔滨工业大学学报．1997，29(1)．96-99
[68] 陈革，渐开线球齿轮加工理论研究与加工装置设计，国防科技大学硕士论文，1999
[69] 陈革、潘存云等，渐开线球齿轮及范成法加工方案研究，国防科技大学学报，1999．12
[70] 刘献锋、潘存云等，基于球齿轮传动的机器人柔性手腕机构分析，国防科技大学学报，1999第12期
[71] Mark. K. Roshein, Four New Robot Wrist Actuators, ROBOTS10. Conference proceedings, 1986
[72] Mark. E. Rosheim, Robot Wrist Actuators, A Wiley-Interscience Publication, 1988.
[73] Toothed drive-has sectors mounted with freedom of rotation about third axis passing through centre of section perpendicular to other two axes, SU 1190-115A.
[74] Guo Jifeng Huang Shanjun &Li Huamin The Transmission Principle and Design of Spherical Gear Pair, Proceedings of International Conference on Gearing. Zheng Zhou. China. 1988.
[75] Liu Zhiquan, Li Guixian, Li Huamin, Research to Cone Tooth Spherical Gear Transmission of Robot Flexible Joint. The American Society of Mechanical Engineers, Vol.26.1990.
[76] Li Huamin, Li Guixian Wang xianfa, Bi zhuming, The Theory and Design of the Quasi-ellipsoidal Gear Transimission with Inner-toroidal Teeth in the Joint of Robot. Proceedings of Asia Conference on Robot .1991.
[77] Pan CunYun, A Four Degree of Freedom Industrial Root Wirst Actuator, 1991
[78] Pan CunYun, A Kinematic Simulation System or Industrial Root—IRKSS, 1991
[79] Pan CunYun, Using Gluing Assembly to Construct 3D Geomatric Model of Robot, 1991
[80] Shang JianZhong, Pan CunYun, Asseembly-Oriented Computer Aided Design, 1993
[81] Li Guixian, Li Huamin, Bi Zhuming, Meching Analysis on the
Quasi-ellipsoidal Gear Transmission with inner Toroidal Teeth in the Flexible Joint of Robot. Chinese Journal of Mechanical Engeering .Vol. 5． 1992．
[82] Dai Tiecheng; Zhang Yuchun; Wu Lin, Robust force control of robot wrists with sliding modes , The International Conference on Computers in Machinery Industry, Shanghai, China, October 23-25, 1992
[83] SPHERICAL HOB FOR CREATING INVOLUTE GEAR, 1992
[84] METHOD OF AND DEVICE FOR MANUFACTURING SPHERICAL HOB FOR CREATING INVOLUTE GEAR, 1992
[85] Globoid worm gear-has involute spiral generating surfaces of worm and wheel for easier manufacture, 1992
[86] Conical toothed gear cutter-forms spiral with spherical involte profile with a constantspiral angle with one sided feed of tool across the gear, 1993
[87] Modelling of bevel gears usering the exact spherical involute,Jouranl of Mechanical Design. Transactions of the ASME v116n2 Jun 1994．
[88] Zhang kun;Feng Liqun,The research of the design of spherical gear transmission used in flexible wrist of robots, Joural of Tsinghua University vol. 34, no.2,1994
[89] Calculation of Spherical Involute Bevel Gears. TZ fuer Praktishe Metallbearbeitung v69 n 7 Jul 1995
[90] Kok-Meng Lee; Ronald B. Roth; Zhi Zhou, Dynamic modeling and control of a ball-joint-like variable-reluctance spherical motor, Journal of Dynamic Systems Measurement & Control; Transactions of the ASME. 1996, vol. 118, no. 1
[91] Guo Jifeng; Huang Shanjun; Li Huamin, The transmission principle and design of spherical gear pair, The International Conference on Gearing, vol.1, Zhengzhou, China, 5-10 November 1998
[92] Ying-Chien Tsai; Wern-Kueir Jehng, Rapid prototyping and manufacturing technology applied to the forming of spherical gear sets with skew axes, Journal of Materials Processing Technology. 1999, vol.95, no.1-3
[93] Zhenshi Liu; Yifang Zhou; Yimin Lu; Xiaolong Wang,, Some problems on realizing real-time compensation filter of sensor, 1999
[94] Wang, Y. T. ; Wang, C. P., Development of a polishing robot system, The 7th IEEE International Conference on Emerging Technologies and Factory Automation (ETFA'99) , vol.2, Barelona, Catalonia, Spai.2000
[95] C.Colombo; J. L. Crowley, Uncalibrated visual tasks via linear interaction,1999
[96] Giovanni C. Pettinaro, Behaviour-based peg-in-hole, ROBOTICA :INTERNATIONAL JOURNAL OF INFORMATION, EDUCATION AND RESEARCH IN ROBOTICS AND ARTIFICIAL INTLLIGENCE. MARCH-APRIL 1999 Vol. 17, PART
2
[97] Ambarish Goswami; Michael Peshkin, Mechanically implementable accommodation matrices for passive force control, International Journal of Robotics Research. 1999, vol.18, no.8
[98] R. L. Williams II, nverse kinematics and singularities of manipulators with offset wrist, International Journal of Robotics and Automation. 1999, vol. 14, no. 1
[99] Tsai, Ying-Chien; Jehng, Wern-Kueir, Natl Sun Yat-Sen Univ, Kaohsiung, Taiwan Journal of Materials Processing Technology v 95 n 1-3 Oct 15 1999． p 169-179
[100] Kenichi Mitome; Toshihito Okuda; Tatsuya Ohmachi; Takashi Yamazaki, Development of a new nobbing of spherical gear, 日本机械学会论文集， C辑，2000, vol.66, no. 646
[101] Y. T. Wang; Y. J. Jan, A robot-assisted finishing system with an active torque controller, The 2000 IEEE International Conference on Robotics and Automation (ICRA 2000) , vol.2, San Francisco, California, USA, April 24-2
[102] Pascoal, Antonio; Oliveira, Paulo; Silvestre, Carlos; Sebastiao, Luis; Ruf ino, Manuel; Barroso, Oceans Conference Record (IEEE) v 1 2000． IEEE, Piscataway, NJ, USA,00CB37158． p 409-415
[103] Ronger, Jacques, Pressure casting with robots, American Ceramic Society Bulletin v 79 n 12 Dec 2000． p 62-64
[104] Daniel C. H. Yang; Jason W. Rauchfuss, A new zero-dimension robot wrist: design and accessibility analysis, International Journal of Robotics Research. 2001, vol. 20, no. 2
[2] 金属切削机床，机械工业出版社，1979．2
[3] 上海纺织工学院等，机床设计图册，上海科学技术出版社 1979．6
[4] 吴序堂，齿轮啮合原理，机械工业出版社，1982
[5] 沈蕴方等，空间啮合原理及SG-71型蜗轮副，冶金工业出版社，1983
[6] 袁哲俊等，齿轮刀具设计，新时代出版社，1983．9
[7] 顾维邦，金属切削机床，机械工业出版社，1984．6
[8] 苏联φ·π·李特文，齿轮啮合原理，上海科技出版社，1984
[9] 张启先，空间机构的分析与综合，机械工业出版社，1984
[10] 任敬心等，齿轮工程学，国防工业出版社，1985．11
[11] 戴曙，金属切削机床设计，机械工业出版社 1985．12
[12] 哈尔滨工业大学机械原理教研室，齿轮啮合原理及微分几何，上、下册，1985
[13] 李华敏，渐开线齿轮的几何原理与计算，机械工业出版社，1985
[14] 陈惟荣等，齿轮啮合原理，煤炭工业出版社，1985
[15] 机床设计手册编写组，机床设计手册，机械工业出版社 1986．12
[16] 理查德．P．保罗，机器人操作手：数学、编程与控制，机械工业出版社，1986
[17] 牧野洋等，空间机构及机器人机构学，机械工业出版社，1987
[18] 蔡自兴，机器人原理及其应用，中南工业大学出版社，1988
[19] 黄真，空间机构学，机械工业出版社，1991
[20] 潘存云，双重系杆平面差动轮系工业机器人柔性手腕的设计与分析，首届全国机器人学术讨论会论文集，1987
[21] 潘存云等，柔性手腕结构及动作原理分析，首届全国机器人学术讨论会论文集，1987
[22] 潘存云，一种工业机器人柔性手腕的设计与分析，国防科技大学学报，1987第四期
[23] 刘志全等，锥形齿球面齿轮传动的研究，齿轮，1990(3)
[24] 高业田，双自由度共轭曲面啮合理论，哈尔滨工业大学学报，1989第四期
[25] 黄及葆，曲线曲面的数值表示和逼近，上海科技出版社，1990
[26] 佟桂林，用瞬时转轴综合球面齿轮四连杆机构，哈尔滨电工学院学报．1990，13(4)
[27] 刘志全等，机器人柔性关节准椭球面齿轮传动—节曲面的优化设计，机器人，1990(12)
[28] 改变齿形并具特色之圆锥形齿轮及球形齿轮，机械月刊(台湾)1991(1)
[29] 山崎隆 杨义雄，改变齿形并具特色之圆锥形齿轮及球形齿轮，机械月刊(台湾)．1991，(7)．-131-138
[30] 李瑰贤等，机器人柔性关节准椭球面齿轮传动—齿形分析与设计，机器人，1991(4)
[31] 潘存云，用逆推法进行平面复杂机构的运动分析，《国防科技大学学报》，1991．2
[32] 潘存云、机器人作业运动的计算机图形仿真，《国防科技大学学报》，1991．3
[33] 潘存云，机器人运动仿真若干技术问题研究，全国第五届机构学会议论文集，1991
[34] 潘存云，工业机器人运动仿真系统—IRKSS，《机器人》，1992．1
[35] 潘存云，一个基于图形的机器人运动仿真系统，《系统仿真学报》，1991．2
[36] 潘存云，几种新型机器人手腕机构剖析，机械与电子，1991第二期
[37] 张春生，喷漆机器人柔性手腕的设计与分析，第三届全国机器人学术讨论会论文集，1991
[38] 潘存云，用体素贴合法构造机器人的三维几何模型，《国防科技大学学报》，1992．1
[39] 潘存云，Trallfa全方位手腕的结构及动作原理分析，全国学术会议论文集，1992
[40] 刘志全，机器人柔性关节准椭球面齿轮传动原理与设计，哈尔滨工业大学硕士论文，1992
[41] 李瑰贤，李华敏等，内环面准椭球齿轮传动的界限曲线，计算机在机械工业中的应用，国际会议论文集，1992
[42] 李瑰贤，李华敏等，准椭球齿轮传动的图形仿真，第五届机械传动年会论文集第一分册机构学，1992
[43] 唐其林，球形渐开线齿轮滚刀的研究，机械制造与自动化，1992(1)
[44] 潘存云，齿轮家族中的新成员—球形齿轮机构，吉林工业大学学报，1992增刊
[45] 郭吉丰，机器人柔性手腕球面传动的原理与设计，哈尔滨工业大学硕士论文，1992
[46] 朱龙根等，机械系统设计，机械工业出版社，1992．5
[47] 太原市金属切削刀具协会，金属切削实用刀具技术，机械工业出版社，1993．11
[48] 潘存云，多自由度复合运动关节机构设计与分析，国防科技大学校庆四十周年论文集，1993
[49] 毕诸明，机器人关节内环面齿准椭球齿轮传动及其图形仿真，哈尔滨工业大学硕士论文，1993
[50] 林国成等，球面齿轮传动的强度分析，机械传动，1993(4)
[51] 林国成、常山，球面齿轮传动的强度分析，机械传动．1993，17(4)
[52] 潘存云，球齿轮传动原理探讨，机械科技的未来—青年科学家论坛，机械工业出版社，1994
[53] 吴波，机器人柔性手腕图形仿真结果改进，哈尔滨工业大学硕士论文，1994
[54] 刘鹄然，谷雨，圆锥形凹齿球面齿轮传动，传动技术，1994，2
[55] 常山，陈荣增，球面齿轮传动的强度研究，热能动力工程．1994，9(1)．54-58
[56] 张昆等，机器人柔性手腕的球面齿轮设计研究，清华大学学报：自科版 1994(2)
[57] 张国荣，用于机器人精密装配的可变柔性手腕，江苏机械制造及自动化，1994(6)
[58] 常山等，球面齿轮传动的强度研究，热能动力工程，1994(1)
[59] 江甫炎，近代齿轮制造工艺，航空工业出版社，1994．6
[60] 范云涨等，金属切削机床设计简明手册，机械工业出版社，1994．7
[61] 罗昆，基于球形齿轮传动的柔性手腕的研究，国防科技大学硕士学位论文，1995
[62] 刘献锋、潘存云等，基于球形齿轮传动的柔性手腕动作原理及其运动分析，机器人，1996第四期
[63] 尚建忠、潘存云，球齿轮传动及其造型研究，机械科学与技术，1996第9期
[64] 潘存云等，球齿轮传动理论与运动分析，机械设计与研究，1996第12期
[65] 潘存云等，球齿轮机构及其应用，机械科学与技术，1997第一期
[66] 刘宪锋，基于球形齿轮传动的柔性腕微机控制系统，国防科技大学硕士学位论文，1996
[67] 李华敏 吴波，圆锥形凹齿球面齿轮传动，哈尔滨工业大学学报．1997，29(1)．96-99
[68] 陈革，渐开线球齿轮加工理论研究与加工装置设计，国防科技大学硕士论文，1999
[69] 陈革、潘存云等，渐开线球齿轮及范成法加工方案研究，国防科技大学学报，1999．12
[70] 刘献锋、潘存云等，基于球齿轮传动的机器人柔性手腕机构分析，国防科技大学学报，1999第12期
[71] Mark. K. Roshein, Four New Robot Wrist Actuators, ROBOTS10. Conference proceedings, 1986
[72] Mark. E. Rosheim, Robot Wrist Actuators, A Wiley-Interscience Publication, 1988.
[73] Toothed drive-has sectors mounted with freedom of rotation about third axis passing through centre of section perpendicular to other two axes, SU 1190-115A.
[74] Guo Jifeng Huang Shanjun &Li Huamin The Transmission Principle and Design of Spherical Gear Pair, Proceedings of International Conference on Gearing. Zheng Zhou. China. 1988.
[75] Liu Zhiquan, Li Guixian, Li Huamin, Research to Cone Tooth Spherical Gear Transmission of Robot Flexible Joint. The American Society of Mechanical Engineers, Vol.26.1990.
[76] Li Huamin, Li Guixian Wang xianfa, Bi zhuming, The Theory and Design of the Quasi-ellipsoidal Gear Transimission with Inner-toroidal Teeth in the Joint of Robot. Proceedings of Asia Conference on Robot .1991.
[77] Pan CunYun, A Four Degree of Freedom Industrial Root Wirst Actuator, 1991
[78] Pan CunYun, A Kinematic Simulation System or Industrial Root—IRKSS, 1991
[79] Pan CunYun, Using Gluing Assembly to Construct 3D Geomatric Model of Robot, 1991
[80] Shang JianZhong, Pan CunYun, Asseembly-Oriented Computer Aided Design, 1993
[81] Li Guixian, Li Huamin, Bi Zhuming, Meching Analysis on the
Quasi-ellipsoidal Gear Transmission with inner Toroidal Teeth in the Flexible Joint of Robot. Chinese Journal of Mechanical Engeering .Vol. 5． 1992．
[82] Dai Tiecheng; Zhang Yuchun; Wu Lin, Robust force control of robot wrists with sliding modes , The International Conference on Computers in Machinery Industry, Shanghai, China, October 23-25, 1992
[83] SPHERICAL HOB FOR CREATING INVOLUTE GEAR, 1992
[84] METHOD OF AND DEVICE FOR MANUFACTURING SPHERICAL HOB FOR CREATING INVOLUTE GEAR, 1992
[85] Globoid worm gear-has involute spiral generating surfaces of worm and wheel for easier manufacture, 1992
[86] Conical toothed gear cutter-forms spiral with spherical involte profile with a constantspiral angle with one sided feed of tool across the gear, 1993
[87] Modelling of bevel gears usering the exact spherical involute,Jouranl of Mechanical Design. Transactions of the ASME v116n2 Jun 1994．
[88] Zhang kun;Feng Liqun,The research of the design of spherical gear transmission used in flexible wrist of robots, Joural of Tsinghua University vol. 34, no.2,1994
[89] Calculation of Spherical Involute Bevel Gears. TZ fuer Praktishe Metallbearbeitung v69 n 7 Jul 1995
[90] Kok-Meng Lee; Ronald B. Roth; Zhi Zhou, Dynamic modeling and control of a ball-joint-like variable-reluctance spherical motor, Journal of Dynamic Systems Measurement & Control; Transactions of the ASME. 1996, vol. 118, no. 1
[91] Guo Jifeng; Huang Shanjun; Li Huamin, The transmission principle and design of spherical gear pair, The International Conference on Gearing, vol.1, Zhengzhou, China, 5-10 November 1998
[92] Ying-Chien Tsai; Wern-Kueir Jehng, Rapid prototyping and manufacturing technology applied to the forming of spherical gear sets with skew axes, Journal of Materials Processing Technology. 1999, vol.95, no.1-3
[93] Zhenshi Liu; Yifang Zhou; Yimin Lu; Xiaolong Wang,, Some problems on realizing real-time compensation filter of sensor, 1999
[94] Wang, Y. T. ; Wang, C. P., Development of a polishing robot system, The 7th IEEE International Conference on Emerging Technologies and Factory Automation (ETFA'99) , vol.2, Barelona, Catalonia, Spai.2000
[95] C.Colombo; J. L. Crowley, Uncalibrated visual tasks via linear interaction,1999
[96] Giovanni C. Pettinaro, Behaviour-based peg-in-hole, ROBOTICA :INTERNATIONAL JOURNAL OF INFORMATION, EDUCATION AND RESEARCH IN ROBOTICS AND ARTIFICIAL INTLLIGENCE. MARCH-APRIL 1999 Vol. 17, PART
2
[97] Ambarish Goswami; Michael Peshkin, Mechanically implementable accommodation matrices for passive force control, International Journal of Robotics Research. 1999, vol.18, no.8
[98] R. L. Williams II, nverse kinematics and singularities of manipulators with offset wrist, International Journal of Robotics and Automation. 1999, vol. 14, no. 1
[99] Tsai, Ying-Chien; Jehng, Wern-Kueir, Natl Sun Yat-Sen Univ, Kaohsiung, Taiwan Journal of Materials Processing Technology v 95 n 1-3 Oct 15 1999． p 169-179
[100] Kenichi Mitome; Toshihito Okuda; Tatsuya Ohmachi; Takashi Yamazaki, Development of a new nobbing of spherical gear, 日本机械学会论文集， C辑，2000, vol.66, no. 646
[101] Y. T. Wang; Y. J. Jan, A robot-assisted finishing system with an active torque controller, The 2000 IEEE International Conference on Robotics and Automation (ICRA 2000) , vol.2, San Francisco, California, USA, April 24-2
[102] Pascoal, Antonio; Oliveira, Paulo; Silvestre, Carlos; Sebastiao, Luis; Ruf ino, Manuel; Barroso, Oceans Conference Record (IEEE) v 1 2000． IEEE, Piscataway, NJ, USA,00CB37158． p 409-415
[103] Ronger, Jacques, Pressure casting with robots, American Ceramic Society Bulletin v 79 n 12 Dec 2000． p 62-64
[104] Daniel C. H. Yang; Jason W. Rauchfuss, A new zero-dimension robot wrist: design and accessibility analysis, International Journal of Robotics Research. 2001, vol. 20, no. 2