一种基于差动绳驱的单自由度人形机器人关节组件
By using a differentially driven single-DOF humanoid robot joint assembly, combined with a pulley assembly and an adaptive tensioning device, the nonlinear hysteresis and friction interference problems of existing rope-driven joints are solved. This achieves a high-stiffness, low-inertia, and compact joint design, improving the dynamic response and load-to-weight ratio of the humanoid robot. It is particularly suitable for elbow and knee joints.
CN122231840BActive Publication Date: 2026-07-17TIANJIN UNIV
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- TIANJIN UNIV
- Filing Date
- 2026-05-25
- Publication Date
- 2026-07-17
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Figure CN122231840B_ABST
Abstract
本发明公开了一种基于差动绳驱的单自由度人形机器人关节组件，涉及人形机器人技术领域。一种基于差动绳驱的单自由度人形机器人关节组件，包括倒U型支架、驱动装置、滑轮组件、自适应张紧装置、绳索和动平台；驱动装置连接倒U型支架上；滑轮组件设置在倒U型支架内；绳索缠绕在滑轮组件上，绳索还与驱动装置的驱动端缠绕并设置在驱动端的两侧；动平台设置在倒U型支架的槽底部，滑轮组件中的动滑轮支架与动平台连接固定；自适应张紧装置连接倒U型支架内，自适应张紧装置为动平台提供张紧力。本发明通过创新的滑轮差动机构与紧凑型绳索排布设计，在确保高刚度和力控带宽的同时，显著降低关节的转动惯量与轴向尺寸。
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