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由于ｐｉｔｃｈ、ｙａｗ运动耦合干涉问题一直没有被提出和解决，使得现有的柔性手腕机构中必须采用复杂、加工困难的球齿轮传动以满足ｐｉｔｃｈ、ｙａｗ机构运动的特殊要求．基于作者提出的双环解耦原理解决了不需球齿轮传动实现ｐｉｔｃｈ－ｙａｗ－ｒｏｌ柔性腕机构的关键问题，因而采用通常的直齿圆柱齿轮传动方式不需特殊加工即避开了球齿轮传动复杂和加工困难的问题．此外，提出和设计的柔性手腕在机器人柔性臂设计方面也有参考价值．
Due to the pitch and yaw motion coupling interference problem has not been proposed and solved, the existing flexible wrist mechanism must be complex, difficult to deal with the ball gear to meet the pitch, yaw mechanism movement of the special requirements. Based on the double-ring decoupling principle proposed by the author, the key problem of implementing the pitch-yaw-rol flexible wrist mechanism without ball transmission is solved. Therefore, the conventional spur gear transmission mode avoids the need of special machining to avoid the complexity of the ball gear transmission And difficult to process the problem. In addition, the flexible wrist presented and designed also has reference value in the robot flexible arm design.