Underactuated manipulator wrist based on one kind of gear transmission

Underactuated manipulator wrist based on one kind of gear, which relates to a underactuated manipulator wrist. In order to solve the various conventional robot arm manipulator wrist having no function since a plurality of power output result can not meet the environmental needs of nuclear power plants. End of the input gear of the present invention is set at the output of the motor, the outer clutch is mounted on a support shaft by pivot rod fixedly mounted on the end of the input gear, mounted on the spline shaft through the shaft rod, in the middle gear set a support shaft, two middle baffles installed at both sides of the medial ring, the intermediate wheel set through an axle through the two-way clutch is mounted on the left side right end of the medial ring gear, two-way clutch set in the left end of the support shaft, the inner toothing sleeved support shaft, the pinion gear fitted onto the inner spline shaft, spline shaft rotatably mounted in the two inner baffle, the inner and middle output terminal connected to an output terminal. Under the present invention the robot working for the nuclear power plants and other extreme environments.