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本文研制了一种高速插轴入孔的被动手腕ＤＲＣＣ．采用该手腕，轴在高速插入倒角孔时沿倒角表面不会弹起．分析了插轴的动力学过程，并采用了广义质心和虚拟质量的概念推导出成功插轴时ＤＲＣＣ的质量特性．为实现成功插轴，广义质心必须位于轴端附近，水平方向的虚拟质量必须大大低于竖直方向的虚拟质量．实验表明，ＤＲＣＣ确实能达到很高的速度，并且无卡阻和楔紧，可靠性很高．
In this paper, we developed a passive wrist DRCC with high-speed spindle insertion. With this wrist, the shaft does not bounce along the chamfered surface when chamfered holes are inserted at high speed. The dynamic process of the inserted shaft was analyzed. The concept of generalized centroid and virtual mass was used to deduce the quality characteristics of DRCC when the shaft was inserted successfully. In order to achieve successful insertion of the axis, the generalized centroid must be located near the axial end. The virtual mass in the horizontal direction must be much lower than the virtual mass in the vertical direction. Experiments show that, DRCC really can achieve high speed, and no jamming and wedge tightness, high reliability.