中文摘要：

通过分析人体腕关节的组织结构和运动特性,设计了具有柔顺性的3SPS-1S并联机器人手腕机构.3条移动副支链作为驱动,在驱动支链中加入串联弹性驱动器（Series Elastic Actuator,SEA）来实现并联机器人手腕的柔顺性.建立了3SPS-1S并联机构的运动学逆解,推导雅可比矩阵,提出了确定SEA弹簧刚度的方法;基于位置补偿思想,实现柔顺手腕的位姿控制.通过实验验证了该机构对未知负载具有被动柔顺性,通过主动柔顺控制可以实现更高的主动柔顺性.

英文摘要：

By analyzing the structure and movement characteristics of the human wrist, 3SPS-1S parallel mechanism is designed as the prototype for the compliant robotic wrist. The series elastic actuator（SEA） is introduced into three moving branch chains which serve as the driving parts to realize the compliance of parallel robotic wrist. The inverse kinematics is established and the Jaco- bi matrix is deduced based on the 3SPS-1S parallel mechanism and the method of determining the spring stiffness of the SEA module is put forward. Based on the thought of position compensa- tion, the position and pose control of compliant wrist is achieved. Experiments have verified that the robotic wrist has passive compliance for unknown load, and that this robotic wrist can achieve higher active compliance by active compliance control.