Dynamic analysis and simulation of continuous 3R oblique axis non-spherical wrist

Based on the theory of graph representation, the canonical graph representation of the continuous 3R oblique non-spherical wrist was setup, and links were divided into carriers and carried links. The concept of virtual link was introduced, and contributions of the carried links to the generalized inertia forces were divided into two parts. The first part is due to the motion with the carriers (virtual links) and the second part is due to the motion relative to their carriers. The generalized inertia force of the system could be gotten by combining the two parts. Last, an efficient and systematic dynamic equation in which the coupling effects of carried links can be identified individually and systematically is developed. This method provides the basis for the design of driving chains and leads to a computer automated analysis for other geared robotic mechanisms.