一种集成被动柔顺与力矩传感功能的差动二自由度关节和机器人
By employing a coaxial back-to-back layout and elastic drive bevel gear design in the robot joints, the challenges of structural complexity and torque sensing were solved, achieving compact, safe, and efficient robot motion control.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- XI AN JIAOTONG UNIV
- Filing Date
- 2026-01-22
- Publication Date
- 2026-07-17
AI Technical Summary
Existing robot joints are complex, lack flexibility and compactness, and are difficult to integrate torque sensing functions, resulting in insufficient robot load capacity and human-robot interaction safety.
The drive unit, which adopts a coaxial back-to-back layout, is directly connected to the drive bevel gear, eliminating the redundant transmission chain. The drive bevel gear is designed as an elastic element, and a deformation sensing device is attached to its surface to achieve passive compliance and torque sensing.
It achieves a compact and lightweight joint structure, improves the robot's load capacity and human-robot interaction safety, provides a highly integrated torque measurement solution, and enhances kinematic and dynamic performance.
Smart Images
Figure CN121608196B_ABST