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研究的ＰＩＴＣＨ—ＹＡＷ—ＲＯＬＬ全方位关节是基于双万向节传动实现俯仰、偏转、滚动三自由度的新型单关节并联机构，其回转轴线不具备正交性，因而其运动学分析与一般的串联三自由度机构不同。根据双万向节传动的特点运用矢量分析方法解决了该机构的运动学问题，得到了运动学正、逆解及速度Ｊａｃｏｂｉａｎ矩阵，在运动控制软件和硬件研制的基础上，运用微机实现了该关节机构的全方位运动控制。本文的研究内容是进一步研究由该关节构成的仿人臂机构的理论基础。
The research of PITCH-YAW-ROLL omnidirectional joint is a new type of single-joint parallel mechanism based on double universal joint transmission to realize pitch, deflection and rolling three degrees of freedom. Its rotation axis does not have orthogonality, so its kinematics analysis is similar to the general Series three degrees of freedom different institutions. According to the characteristics of double universal joint transmission, the kinematics of this mechanism is solved by vector analysis method. The kinematic positive and inverse solutions and Jacobian matrix of velocity are obtained. Based on the motion control software and hardware development, The full range of joint motion control. The research content of this paper is to further study the theoretical foundation of humanoid arm mechanism composed by this joint.