本文介绍了五种最新研制的机器手腕机构,它们从一个侧面反映了当前机器人机构型综合的研究水平。文中简要分析了这五种机构的结构特点及传动原理,并指出:它们除可以用作机器人的腕关节机构之外,还可用作主/从式遥控机器人中主机与从机之间的联接关节、类人型机器人的肩关节以及步行机器人腿机构的髋关节。 This article describes five newly developed machine wrist mechanism, which from one side reflects the current level of robot-based integrated research institutions. In this paper, the structural characteristics and transmission principle of these five kinds of mechanisms are briefly analyzed. It is pointed out that they can be used as joint joints between the master and the slave remote control robots in addition to the wrist mechanism of the robot , Humanoid robot’s shoulder joint, and walking robot leg mechanism’s hip joint.