Driving robot wrist

The present invention discloses a kind of driving robot wrist with two to three rotation degrees of freedom. The driving robot wrist with three rotation degrees of freedom consists of an upper rotating body, a lower rotating body and an output end, the upper rotating body and the lower rotating body are connected via bearing with bi-directional universal coupler, bevel gear mounted on the bidirectional universal coupler and an end gear meshed with the level bear; and the output end is mounted on the output shaft of the bidirectional universal coupler and connected to the upper rotating body. On the basis of driving robot wrist with three rotation degrees of freedom, eliminating the bevel gear and the end gear constituting a mesh pair can form simple and compact driving robot wrist with two rotation degrees of freedom.