Spherical robot

Abstract

The utility model discloses a spherical robot, which relates to the technical field of robots and comprises a joint actuator, a roller and a pendulum bob. The joint actuator comprises a shell, a driving assembly and a transmission assembly, wherein the driving assembly and the transmission assembly are installed on the shell. The transmission assembly comprises a first output piece, a second output piece and a third output piece which are in driving connection with the driving assembly; the two rolling wheels are oppositely arranged in the first direction, the two rolling wheels are arranged on the two sides of the joint actuator in a sleeving mode and rotatably connected with the joint actuator, and the first output piece and the second output piece are in driving connection with the two rolling wheels correspondingly; the pendulum bob is rotatably mounted between the joint actuator and the roller, and the third output piece is in driving connection with the pendulum bob; according to the technical scheme provided by the utility model, the spherical robot can form three modular structures including the joint actuator, the roller and the pendulum bob, so that the spherical robot can be quickly assembled and formed, and the installation and production efficiency of the spherical robot is improved.

Description

Technical Field

[0001] This utility model relates to the field of robotics, and in particular to a spherical robot. Background Technology

[0002] A spherical robot is a type of robot whose drive system is located inside a spherical shell (or body), achieving spherical movement through internal drive. Spherical mobile robots have a simple structure, achieving omnidirectional movement without complex mechanical transmission connections. They have single-point contact with the ground, resulting in low frictional resistance, and the spherical shell avoids the tipping and instability issues common in conventional robots. They have made significant contributions in fields such as planetary exploration, environmental monitoring, and defense equipment. However, current spherical robot technologies are relatively complex, leading to lower installation and production efficiency. Utility Model Content

[0003] The main purpose of this invention is to propose a spherical robot that aims to improve the installation and production efficiency of spherical robots.

[0004] To achieve the above objectives, the spherical robot proposed in this utility model includes: a joint actuator, rollers, and a pendulum; the joint actuator includes a housing and a drive assembly and a transmission assembly mounted on the housing; the transmission assembly includes a first output component, a second output component, and a third output component driven and connected to the drive assembly; the first output component and the second output component are disposed opposite to each other on both sides of the housing along a first direction, and the third output component is disposed on one side of the housing along a second direction, the first direction and the second direction intersecting; two rollers are disposed opposite to each other along the first direction, the two rollers are sleeved on both sides of the joint actuator and rotatably connected to the joint actuator, the first output component and the second output component are respectively driven and connected to the two rollers; the pendulum is rotatably mounted between the joint actuator and the rollers, and the third output component is driven and connected to the pendulum.

[0005] In one embodiment, the joint actuator is spherically shaped.

[0006] In one embodiment, the first roller and the second roller are configured as hemispherical shells, and the two hemispherical shells are fitted onto the two sides of the joint actuator.

[0007] In one embodiment, the housing has a mounting cavity and a first opening, a second opening, and a third opening communicating with the mounting cavity; the first output member is disposed at the first opening, the second output member is disposed at the second opening, and the third output member is disposed at the third opening; the rotation axis of the first output member and the rotation axis of the second output member are coincidentally arranged, and the rotation axis of the third output member intersects with the rotation axis of the first output member.

[0008] In one embodiment, the first output member is provided with a first connecting portion for connecting the roller, the second output member is provided with a second connecting portion for connecting the roller, and the third output member is provided with a third connecting portion for connecting the pendulum; the first connecting portion and the second connecting portion are spaced apart on both sides of the housing along a first direction, and the third connecting portion is spaced apart on one side of the housing along a second direction.

[0009] In one embodiment, the rotation axis of the first output member and the rotation axis of the third output member are arranged perpendicular to each other.

[0010] In one embodiment, the pendulum has a first surface near the joint actuator and a second surface near the roller; the curved shape of the first surface is configured to match the outer surface shape of the housing, and the curved shape of the second surface is configured to match the inner surface shape of the roller.

[0011] In one embodiment, the drive assembly includes a first motor, the transmission assembly further includes a first gear set, the first output member is provided with a first output gear, and the first motor is drivenly connected to the first output gear through the first gear set;

[0012] And / or, the drive assembly further includes a second motor, the transmission assembly further includes a second gear set, the second output member is provided with a second output gear, and the second motor is drivenly connected to the second output gear through the second gear set;

[0013] And / or, the drive assembly includes a third motor, the transmission assembly further includes a third gear set, the third output member is provided with a third output gear, and the third motor is drivenly connected to the third output gear through the third gear set.

[0014] In one embodiment, the joint actuator further includes a control component and a feedback component. The control component is electrically connected to the feedback component and the drive component. The feedback component is used to detect the rotation of the first output member, the second output member, and the third output member respectively and feed the detection information back to the control component. The control component is used to control the operation of the drive component according to the detection information.

[0015] In one embodiment, the joint actuator further includes a power supply device and a wireless communication module, which are installed inside the housing. The power supply device is electrically connected to the drive assembly, and the joint actuator is connected to an external system signal via the wireless communication module.

[0016] The technical solution of this utility model adopts a spherical robot by setting a joint actuator, rollers, and a pendulum. The joint actuator includes a housing, a drive assembly, and a transmission assembly. The transmission assembly includes a first output component, a second output component, and a third output component that are driven and connected to the drive assembly. The first and second output components are arranged opposite to each other on both sides of the housing along a first direction, and the third output component is arranged on one side of the housing along a second direction. Two rollers are arranged opposite to each other along the first direction and are respectively sleeved on both sides of the joint actuator, and are rotatably connected to the joint actuator. The first and second output components drive and connect the two rollers respectively. The pendulum is rotatably installed between the joint actuator and the rollers and is driven and connected to the third output component. This allows the spherical robot to form three modular structures: a joint actuator, rollers, and a pendulum, thereby enabling rapid assembly of a spherical robot and improving the efficiency of spherical robot installation and production. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without creative effort.

[0018] Figure 1 A schematic diagram of the structure of an embodiment of the spherical robot provided by this utility model;

[0019] Figure 2 An exploded structural diagram of an embodiment of the spherical robot provided by this utility model;

[0020] Figure 3 for Figure 1 Sectional view at point AA.

[0021] Explanation of icon numbers:

[0022] 100. Spherical robot; 1. Joint actuator; 11. Shell; 12. First output component; 13. Second output component; 14. Third output component; 2. Roller; 3. Pendulum; 4. Power supply device; 5. Wireless communication module.

[0023] The realization of the purpose, functional features and advantages of this utility model will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0024] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present utility model.

[0025] It should be noted that if the embodiments of this utility model involve directional indicators (such as up, down, left, right, front, back, etc.), the directional indicators are only used to explain the relative positional relationship and movement of the components in a specific posture. If the specific posture changes, the directional indicators will also change accordingly.

[0026] Furthermore, if the embodiments of this utility model involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the use of "and / or" or "and / or" throughout the text includes three parallel solutions. For example, "A and / or B" includes solution A, solution B, or a solution where both A and B are satisfied simultaneously. Furthermore, the technical solutions of the various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. When the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed by this utility model.

[0027] A spherical robot is a type of robot whose drive system is located inside a spherical shell (or body), achieving spherical movement through internal drive. Spherical mobile robots have a simple structure, achieving omnidirectional movement without complex mechanical transmission connections. They have single-point contact with the ground, resulting in low frictional resistance, and the spherical shell avoids the tipping and instability issues common in conventional robots. They have made significant contributions in fields such as planetary exploration, environmental monitoring, and defense equipment. However, current spherical robot technologies are relatively complex, leading to lower installation and production efficiency.

[0028] This utility model proposes a spherical robot 100.

[0029] Please see Figure 1-3In one embodiment of this utility model, the spherical robot 100 includes: a joint actuator 1, rollers 2, and a pendulum 3; the joint actuator 1 includes a housing 11 and a drive assembly and a transmission assembly mounted on the housing 11; the transmission assembly includes a first output component 12, a second output component 13, and a third output component 14 driven and connected to the drive assembly; the first output component 12 and the second output component 13 are disposed opposite to each other on both sides of the housing 11 along a first direction, and the third output component 14 is disposed on one side of the housing 11 along a second direction, the first direction and the second direction intersecting; two rollers 2 are disposed opposite to each other along the first direction, the two rollers 2 are sleeved on both sides of the joint actuator 1 and rotatably connected to the joint actuator 1, the first output component 12 and the second output component 13 respectively drive and connect the two rollers 2; the pendulum 3 is rotatably mounted between the joint actuator 1 and the rollers 2, and the third output component 14 drives and connects the pendulum 3.

[0030] In this embodiment, the joint actuator 1 can be used to connect the rollers 2 and the pendulum 3 of the spherical robot 100. The first output component 12 and the second output component 13 respectively drive the two rollers 2 connected to the robot to rotate. When the two rollers 2 rotate at the same speed, the spherical robot 100 can roll and walk in a straight line. When the two rollers 2 roll at different speeds, the spherical robot 100 turns and moves towards the side of the roller 2 with the slower rotation speed. The third output component 14 drives the pendulum 3 connected to the robot to swing. Since the outer surface of the spherical robot 100 is spherical, it mainly moves by rolling. The pendulum 3 can change its position by rotating, thereby changing the system center of gravity of the spherical robot 100. When the pendulum 3 moves, it generates an eccentric torque, which can drive the spherical shell to roll or stop, achieving precise control of the spherical robot 100's movement trajectory. Meanwhile, the spherical robot 100 needs to maintain good dynamic stability during movement to avoid rolling or losing control; the pendulum 3 helps to improve the robot's dynamic stability, enabling it to roll stably even in complex terrain and harsh environments.

[0031] In this embodiment, by aligning the axes of the first output component 12 and the second output component 13, and by intersecting the axes of the first output component 12 and the third output component 14, the mathematical model of the joint actuator 1 is simplified, making structural analysis and design easier. This reduces the computational load for kinematic simulation and motion control, and simplifies the construction and mass production of complex multi-degree-of-freedom robots. Furthermore, the joint actuator 1 enables modular assembly of the spherical robot 100 during assembly production, simplifying its structure. Only the pendulum 3 and roller 2 need to be mounted on the joint actuator 1 to quickly form a spherical robot 100, improving installation and production efficiency. On the other hand, the simplified mathematical model also helps reduce the load on the controller and energy consumption. The first output component 12 and the second output component 13 are symmetrical after rotating about the axis of the third output component 14, giving the joint actuator 1 high compatibility. The roller 2 and pendulum 3 of the spherical robot 100 can be replaced with different sizes and models as needed, reducing manufacturing costs.

[0032] The technical solution of this utility model adopts a spherical robot 100 with a joint actuator 1, rollers 2 and a pendulum 3. The joint actuator 1 includes a housing 11, a drive assembly and a transmission assembly. The transmission assembly includes a first output component 12, a second output component 13 and a third output component 14 driven and connected to the drive assembly. The first output component 12 and the second output component 13 are arranged opposite to each other on both sides of the housing 11 along a first direction, and the third output component 14 is arranged on one side of the housing 11 along a second direction. Two rollers 2 are arranged opposite to each other along the first direction and are respectively sleeved on both sides of the joint actuator 1, and are rotatably connected to the joint actuator 1. The first output component 12 and the second output component 13 drive and connect the two rollers 2 respectively. The pendulum 3 is rotatably installed between the joint actuator 1 and the rollers 2 and is driven and connected to the third output component 14. This allows the spherical robot 100 to form three modular structures: the joint actuator 1, the rollers 2 and the pendulum 3, thereby enabling the rapid assembly of a spherical robot 100 and improving the efficiency of the installation and production of the spherical robot 100.

[0033] In one embodiment, the joint actuator 1 is spherically shaped. The spherical outer contour gives the joint actuator 1 a smoother outer surface, allowing it to have a higher degree of freedom, thus enabling the spherical robot 100 to adapt to more diverse working environments. In addition, the spherical outer contour also allows the joint actuator 1 to accommodate more accessories of different sizes and models, enabling the spherical robot 100 to be assembled and manufactured more quickly, and allowing for the replacement of more suitable accessories such as rollers 2 and pendulums 3 as needed.

[0034] In one embodiment, the first roller 2 and the second roller 2 are configured as hemispherical shells, and the two hemispherical shells are fitted onto the two sides of the joint actuator 1. The roller 2 is configured as a spherical shell, and the outer shell of the roller 2 provides a certain degree of protection for the internal joint actuator 1 and pendulum 3. When the spherical robot 100 collides with a hard object, it will preferentially collide with the roller 2, thereby protecting the internal joint actuator 1 and pendulum 3 from damage. The inner diameter of the roller 2 is larger than the outer diameter of the joint actuator 1. During installation, the roller 2 and the joint actuator 1 will form a certain gap. The pendulum 3 is installed in this gap, so that the pendulum 3 can rotate and connect to the outer surface of the joint actuator 1 without affecting the rotation of the roller 2.

[0035] In one embodiment, the housing 11 has a mounting cavity and a first opening, a second opening, and a third opening communicating with the mounting cavity; the first output member 12 is disposed at the first opening, the second output member 13 is disposed at the second opening, and the third output member 14 is disposed at the third opening. The rotation axis of the first output member 12 and the rotation axis of the second output member 13 are coincident, and the rotation axis of the third output member 14 intersects the rotation axis of the first output member 12. The openings are used to provide outputs from multiple output members, enabling the output members to output power to the externally disposed rollers 2 and pendulum 3 under the driving action of the drive assembly inside the joint actuator 1, thereby driving the rollers 2 and pendulum 3 to roll through the housing 11.

[0036] In one embodiment, the first output member 12 has a first connecting portion for connecting the roller 2, the second output member 13 has a second connecting portion for connecting the roller 2, and the third output member 14 has a third connecting portion for connecting the pendulum 3. The first and second connecting portions are spaced apart on both sides of the housing 11 along a first direction, and the third connecting portion is spaced apart on one side of the housing 11 along a second direction. In this embodiment, the first output member 12 has a first connecting portion on the side facing out of the housing 11, the second output member 13 has a second connecting portion on the side facing out of the housing 11, and the third output member 14 has a third connecting portion on the side facing out of the housing 11. The first and second connecting portions are spaced apart along their common rotation axis, and the rotation axis of the third connecting portion intersects with the rotation axes of the first and second connecting portions. In this embodiment, the first output component 12, the second output component 13, and the third output component 14 are all flange structures. Multiple through holes are opened on the flange. The roller 2 and the pendulum 3 can be connected to multiple connecting parts by screws, bolts, or other components through the through holes, so as to realize transmission through the connecting parts.

[0037] In one embodiment, the rotation axis of the first output component 12 and the rotation axis of the third output component 14 are perpendicular to each other. Specifically, the angle between the rotation axes of the first output component 12 and the third output component 14 is α, ideally 90°. Considering factors such as actual processing and assembly errors, in one embodiment, α satisfies: 89°≤α≤91°, that is, the value of α can be 89°, 90°, or 91°, or any value within the aforementioned range. When the value of the angle α is within this range, the rotation axes of the first output component 12 and the third output component 14 are considered to be perpendicular. In some other embodiments of this utility model, α can also be less than 89° or greater than 91°, depending on the actual product, and no specific limitation is made here. The perpendicularity of the axes further simplifies the physical model of the joint actuator 1 and makes the structure more reasonable.

[0038] In one embodiment, the pendulum 3 has a first surface near the joint actuator 1 and a second surface near the roller 2; the curved shape of the first surface matches the outer surface shape of the housing 11, and the curved shape of the second surface matches the inner surface shape of the roller 2. By configuring the pendulum 3 as a curved structure that matches the outer surface of the joint actuator 1 and the inner surface of the roller 2, the pendulum 3 can swing freely in the space between the joint actuator 1 and the roller 2 without obstructing the rotation of the roller 2, thereby giving the joint actuator 1 a higher degree of freedom of movement. In addition, the pendulum 3 is fitted to the outer surface of the joint actuator 1, which saves the space occupied by the pendulum 3 and makes it easier to assemble and connect the pendulum 3 with the joint actuator 1, thereby making it easier for the spherical robot to form a modular structure, facilitating the assembly and production of the spherical robot.

[0039] In one embodiment, the drive assembly includes a first motor, the transmission assembly further includes a first gear set, the first output member 12 is provided with a first output gear, and the first motor is drivenly connected to the first output gear through the first gear set; and / or, the drive assembly further includes a second motor, the transmission assembly further includes a second gear set, the second output member 13 is provided with a second output gear, and the second motor is drivenly connected to the second output gear through the second gear set; and / or, the drive assembly includes a third motor, the transmission assembly further includes a third gear set, the third output member 14 is provided with a third output gear, and the third motor is drivenly connected to the third output gear through the third gear set.

[0040] In this embodiment, the drive assembly includes a first motor, a second motor, and a third motor, and the transmission assembly includes a first gear set, a second gear set, and a third gear set. Specifically, a bracket is also provided inside the housing 11, and the drive assembly and the transmission assembly are both installed inside the housing 11 through the bracket. The first output member 12 has a first output gear that rotates around the rotation axis of the first output member 12. The two ends of the first gear set are respectively connected to the first motor and the first output gear. The first motor drives the first output member 12 to rotate through the first gear set.

[0041] And / or, the second output member 13 has a second output gear that rotates around the rotation axis of the second output member 13, and the two ends of the second gear set are respectively connected to the second motor and the second output gear. The second motor drives the second output member 13 to rotate through the second gear set. The first motor and the second motor are located on opposite sides of the first output member 12 and the second output member 13.

[0042] And / or, the third output component 14 has a third output gear that rotates around its rotation axis. The two ends of the third gear set are respectively connected to the third motor and the third output gear, and the third motor drives the third output component 14 to rotate via the third gear set. The three sets of motors and gear sets can drive the three output components to rotate independently without interference between them. It should be noted that each of the three gear sets constitutes an independent reducer mechanism to reduce the high speed of the three motors to the required low speed, thus meeting the specific speed and torque requirements of different applications.

[0043] Furthermore, in order to reduce friction when the output components rotate, the joint actuator 1 also includes multiple bearings. The bearings are located on the side of the flanges of the first output component 12, the second output component 13, and the third output component 14 away from the housing 11. It can be understood that the above-mentioned multiple bearings are used for the installation of each component and to reduce friction. Their size and specifications can be set according to the needs of the corresponding components.

[0044] In one embodiment, the joint actuator 1 further includes a control component and a feedback component. The control component is electrically connected to the feedback component and the drive component. The feedback component is used to detect the rotation of the first output member 12, the second output member 13 and the third output member 14 respectively and feed the detection information back to the control component. The control component is used to control the operation of the drive component according to the detection information.

[0045] In this embodiment, the control component, feedback component, and drive component are electrically connected respectively. The control component is used to receive external signals and generate control commands, and control the drive component and transmission component to complete the specified actions according to the commands. The feedback component is set in the housing 11 to detect the actual position and speed of the first output component 12, the second output component 13, and the third output component 14 respectively. The feedback component sends this information to the control component. In addition to receiving external signals, the control component also receives the detection information from the feedback component. Based on this information, the control component obtains the rotation angle, rotation speed, rotation time, and other parameters of the first output component 12, the second output component 13, and the third output component 14 respectively, and controls and adjusts the operation of the drive component in real time according to these parameters and external signals to achieve closed-loop control.

[0046] In this embodiment, the joint actuator 1 further includes a power supply device and a wireless communication module. The power supply device and the wireless communication module are installed inside the housing 11. The power supply device is electrically connected to the drive assembly, and the joint actuator 1 is connected to an external system signal via the wireless communication module.

[0047] See Figure 2 , 3 In one embodiment, the joint actuator 1 further includes a power supply device 4 and a wireless communication module 5. The power supply device 4 and the wireless communication module 5 are installed within the housing 11. The power supply device 4 is electrically connected to the drive component, and the joint actuator 1 is connected to an external system via the wireless communication module 5. The power supply device 4 provides power to the system, enabling the spherical robot 100 to operate independently for a period of time without an external power source, providing continuous and stable power support to the drive component, thereby ensuring that the joint actuator 1 can perform precise actions according to preset instructions. The wireless communication module 5 is built into the housing 11. Utilizing wireless communication technology, the joint actuator 1 can connect to and transmit signals with an external system without cables, thereby improving the flexibility and applicability of the joint actuator 1. This facilitates remote monitoring and intelligent control of the spherical robot 100 by operators, enabling the joint actuator 1 to form an efficient and intelligent operating system with the external system.

[0048] The above description is merely an exemplary embodiment of the present utility model and does not limit the patent scope of the present utility model. Any equivalent structural transformations made based on the technical concept of the present utility model and the contents of the present utility model specification and drawings, or direct / indirect applications in other related technical fields, are included within the patent protection scope of the present utility model.

Claims

1. A spherical robot, characterized in that, include: A joint actuator includes a housing and a drive assembly and a transmission assembly mounted on the housing; the transmission assembly includes a first output member, a second output member, and a third output member driven and connected to the drive assembly; the first output member and the second output member are disposed opposite to each other on both sides of the housing along a first direction, and the third output member is disposed on one side of the housing along a second direction, wherein the first direction and the second direction intersect. Two rollers are arranged opposite each other along a first direction. The two rollers are sleeved on both sides of the joint actuator and rotatably connected to the joint actuator. The first output component and the second output component respectively drive and connect the two rollers. as well as A pendulum is rotatably mounted between the joint actuator and the roller, and the third output component drives and connects to the pendulum.

2. The spherical robot as described in claim 1, characterized in that, The joint actuator is spherically shaped.

3. The spherical robot as described in claim 1, characterized in that, The two rollers are arranged in hemispherical shells, and the two hemispherical shells are fitted onto opposite sides of the joint actuator.

4. The spherical robot as described in claim 1, characterized in that, The housing has a mounting cavity and a first opening, a second opening, and a third opening communicating with the mounting cavity; the first output member is disposed at the first opening, the second output member is disposed at the second opening, and the third output member is disposed at the third opening; the rotation axis of the first output member and the rotation axis of the second output member are coincidentally arranged, and the rotation axis of the third output member intersects with the rotation axis of the first output member.

5. The spherical robot as described in claim 1, characterized in that, The first output component is provided with a first connecting part for connecting the roller, the second output component is provided with a second connecting part for connecting the roller, and the third output component is provided with a third connecting part for connecting the pendulum; the first connecting part and the second connecting part are spaced apart on both sides of the housing along a first direction, and the third connecting part is spaced apart on one side of the housing along a second direction.

6. The spherical robot as described in claim 1, characterized in that, The rotation axis of the first output component and the rotation axis of the third output component are set perpendicular to each other.

7. The spherical robot as described in claim 1, characterized in that, The pendulum has a first surface near the joint actuator and a second surface near the roller; the curved shape of the first surface is set to match the outer surface shape of the housing, and the curved shape of the second surface is set to match the inner surface shape of the roller.

8. The spherical robot as described in claim 1, characterized in that, The drive assembly includes a first motor, the transmission assembly further includes a first gear set, the first output component is provided with a first output gear, and the first motor is driven by the first output gear through the first gear set. And / or, the drive assembly further includes a second motor, the transmission assembly further includes a second gear set, the second output member is provided with a second output gear, and the second motor is drivenly connected to the second output gear through the second gear set; And / or, the drive assembly includes a third motor, the transmission assembly further includes a third gear set, the third output member is provided with a third output gear, and the third motor is drivenly connected to the third output gear through the third gear set.

9. The spherical robot as described in claim 1, characterized in that, The joint actuator further includes a control component and a feedback component. The control component is electrically connected to the feedback component and the drive component. The feedback component is used to detect the rotation of the first output component, the second output component, and the third output component respectively and feed the detection information back to the control component. The control component is used to control the operation of the drive component according to the detection information.

10. The spherical robot as described in any one of claims 1 to 9, characterized in that, The joint actuator also includes a power supply device and a wireless communication module, which are installed inside the housing. The power supply device is electrically connected to the drive assembly, and the joint actuator is connected to an external system signal via the wireless communication module.

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