This article is to design a skew - rpyr mechanical wrist not only with comparatively high workspace and dexterity but also the capability of circumventing the mechanism singular position effectively while operation . the dynamics analysis and calculation will become the basis of practical control . a short review of the development in wrist design is introduced in the paper , and the development of the idea of the skew - rpyr wrist put forward is necessary 斜四关节手腕( skew - pryr )具有较大运动空间和较高的灵活度,通过运动学的分析和优化使该手腕具备在运动中有效回避机构奇异和手腕关节运动范围极限的能力,并且用拉格朗日法对手腕的动力学的分析和计算为以后实现控制作了准备。
