以基于球形齿轮传动的柔性手腕为研究对象，提出了一种新型手腕驱动机构，并对此机构进行运动分析，建立了它的运动模型，推导出了运动方程的解。分析结果证明了该机构运动的确定性、传动的准确性。 Based on the flexible wrist based on spherical gear transmission, a new type of wrist drive mechanism was proposed. The motion analysis of this mechanism was carried out and its motion model was established. The solution of the equation of motion was deduced. The result of the analysis proves the certainty of the mechanism movement and the accuracy of the transmission.