1797 results about "High transmission" patented technology

The invention relates to the technical field of vehicle network control, in particular to an efficient vehicle network control system and method based on CAN-FD, and the system comprises a data transmission optimization module, a bandwidth management module, a signal scheduling control module, an encryption security control module and an anomaly detection module. In the invention, the bit rate of a data frame, the length of a data packet and the proportion of filling bytes are optimized, the transmission efficiency is improved, the bandwidth occupied by invalid data is reduced, a priority screening mechanism is called, the stable transmission of high-priority signals is ensured, the bandwidth allocation is adjusted based on the flow state and node frequency monitoring, the burst flow congestion is relieved, and the resource allocation is balanced; in combination with arbitration priority and bus conflict state, non-emergency signal priority is optimized, key data blocking risk is reduced, encryption and integrity verification are adopted, data security is ensured, tampering and leakage are prevented, data abnormity score and detection are introduced, abnormal data are screened, identification capability is improved, and network potential safety hazard is reduced.

The invention relates to the technical field of wireless communication, in particular to an intelligent wireless communication control method applied to ships and boats. The method comprises the following steps: acquiring radar original point cloud data, an AIS ship attribute data set, a Beidou navigation state data set and night vision target feature data through a multi-dimensional sensor, and constructing ship multi-source standardized preprocessing data; therefore, the functions of multi-source heterogeneous data fusion, dynamic channel adaptive modulation, distributed relay communication guarantee, real-time air route dynamic planning, intelligent instruction generation and the like are realized; the problems of high data isolation, large transmission delay, rigid navigation path, slow obstacle avoidance response, insufficient formation collaboration and the like in the existing ship communication control technology are solved, and the communication stability, the navigation safety and the overall combat effectiveness of the ship formation in a complex dynamic environment are remarkably improved.

The invention relates to the technical field of satellite telemetering and remote control, and discloses a port task processing method for a satellite measurement, operation and control system, which comprises the following steps of: 1, detecting all available network interfaces through a port scanner, and establishing a multi-path communication channel comprising a public network, a private network and a satellite link; step 2, acquiring packet loss rate, delay, bandwidth and jitter parameters of each path in the multi-path communication channel in real time, and updating the parameters based on a preset period; and step 3, generating a comprehensive score of each path according to the packet loss rate, the delay, the bandwidth and the jitter parameters. According to the method and the device, the technical scheme of dynamic scoring and switching of the multi-path communication channel is adopted, and the technical effect of automatically selecting the optimal path according to the real-time network performance is achieved; the problems of high transmission delay, large packet loss rate and incapability of adaptive adjustment caused by network fluctuation are solved.

The invention discloses a high-voltage level conversion circuit with a symmetric pulse current structure, which belongs to the technical field of integrated circuits and comprises a level conversion module, a symmetric pulse current auxiliary module and a latch output module. According to the level conversion module, the defect that in the prior art, when the voltage of a power supply jumps rapidly, a circuit may be triggered by mistake is overcome, and the immunity of the circuit is improved. According to the symmetrical pulse current auxiliary module, the defect that transmission delays at the rising edge and the falling edge of an input signal are asymmetric in the prior art is overcome, so that the symmetrical pulse current auxiliary module keeps high transmission delay symmetry while ensuring a high transmission speed; and the problem of possible distortion of digital signal input and output in a high-speed circuit is effectively suppressed.

The invention discloses a driving module of a reciprocating type shaver. The driving module comprises a base, a driving assembly and a driving assembly, the two ends of the deflection frame are fixed to the base through elastic pieces to form a frame structure. The output shaft is mounted above the deflection frame; the horizontal motor is arranged on the base; the cam is arranged on a motor power shaft, and grooves with parallel normal sections and equal width are formed in the surface of the cam; the lower end of the rocker arm is hinged to the base, a middle rocker arm shaft is assembled in the groove, and the upper end is in linkage with the deflection frame. Rotary motion is converted into high-frequency linear swing through precise cooperation of the cam and the rocker arm, the transmission efficiency is high, and noise is low; the integrated modular structure of the base and the motor enables the cam and the rocker arm to be matched more accurately and reliably; the double-output shaft symmetrically and reversely swings to realize dynamic balance vibration reduction; the compact horizontal layout saves space; the product has the economical efficiency of a common motor and the performance advantages of a linear motor, the comfort and reliability of a shaver product are improved, and meanwhile the cost is reduced.

The present invention is an electrospun web including a carrier substrate and an electrostatically charged nanofiber. The electrospun web has a pressure drop of about 5 mmH2O or less, a percent penetration of about 50% or less, and a clarity of about 80% or more.

The invention relates to the technical field of machine learning, and discloses a model file loading method and system, computer equipment and a storage medium, and the method comprises the steps: obtaining an update request when an inference service is started; if it is detected that the updating request carries a local storage path of the model file, taking the local storage path as a target storage volume of a target scheduling unit; mounting the target storage volume in an initialization container of the target scheduling unit, and generating a target mounting item of the initialization container; generating response information based on the target storage volume and the target mount item, wherein the response information is used for updating the target scheduling unit to establish a communication link between the updated target scheduling unit and the local directory; and response information is sent to the first slave node, so that the first slave node updates the target scheduling unit and loads the model file based on the communication link. According to the method, the problems of high transmission delay, redundant occupation of hard disk resources, limitation of namespace and the like in the model file loading process can be solved.

Provided in the present application are a power load regulation and control system and method based on a high-speed wireless transmission network. The power load regulation and control system comprises a regulation and control resource layer, an aggregation transmission layer and a load terminal layer, wherein the load terminal layer is connected to each terminal device, and is used for collecting information of each terminal device and fusing the information of the terminal devices, and also issuing a control instruction to each terminal device or transmitting fused information to the aggregation transmission layer; the aggregation transmission layer is used for transmitting the fused information to the regulation and control resource layer by using multi-service multi-hop access technology and secure transmission technology, and transmitting to the load terminal layer the control instruction issued by the regulation and control resource layer; and the regulation and control resource layer is used for generating the control instruction for each terminal device on the basis of the fused information, and transmitting the control instruction to the aggregation transmission layer. The present application can realize the unification of a stable connection and a high transmission rate, can also meet the high requirements for data collection and the transmission rate, and can also cope with complex and variable channel transmission scenarios.

Provided are a data security protection method and a communication device, the method comprising: a distributed unit (DU) performing security protection on first data based on a first key to obtain second data, the first data comprising a low-layer radio resource control (RRC) message, and the security protection comprising encryption protection and / or integrity protection; and the DU sends the second data to the terminal. According to the scheme, the transmission delay of the low-layer RRC message can be reduced, and the transmission efficiency is improved.

The invention provides a wireless sensing platform with an edge computing function, and relates to the technical field of wireless sensors. In order to solve the problems that in the prior art, a wireless sensor is large in data redundancy, high in transmission delay and weak in emergency recognition and response capacity in a complex scene, a joint processing mechanism combining a causal event recognition assembly, a causal data fusion assembly, an event separation assembly and a data distribution assembly is adopted. By detecting a causal change event in an environment and dynamically extracting and fusing sensor data with a strong causal relationship, redundant data transmission caused by emergencies is reduced, transmission delay is reduced, the robustness of causal data fusion in a concurrent event scene is improved, and the reliability of data fusion is improved. According to the invention, efficient and accurate sensing and response to emergencies in a complex environment are realized.

The invention discloses a smart community new energy grid management and analysis system, and belongs to the technical field of smart power grid and energy management, and the system comprises a data collection module which is used for collecting photovoltaic power generation, energy storage equipment and user power utilization data in real time; the dynamic modeling module is used for dynamically generating a multi-level energy grid division scheme according to the collected data; the optimization decision module is used for outputting energy regulation and control parameters according to the grid division scheme; and the iterative feedback module is used for monitoring the regulation and control effect and triggering online updating of the model parameters. According to the method, a dynamic grid topology adaptive division mechanism, a multi-source adaptive collaborative optimization algorithm and a pre-verification type network splitting simulation technology are adopted, so that real-time dynamic reconstruction, multi-target joint optimization and millisecond-level security risk prevention and control of a community energy network can be realized; the problems of high transmission loss, response delay, equipment service life reduction and the like caused by traditional static division are effectively solved.

The invention relates to the technical field of robots, and discloses a humanoid robot lower limb system, comprising: a crotch portion comprising a rope-driven motor; the thighs are installed at the two ends of the crotch respectively and can rotate along a pitch axis and a roll axis; the shanks are installed at the lower ends of the two thighs respectively, a knee joint motor is installed on the upper portion of each thigh, and the shanks are driven to rotate relative to the thighs through the knee joint motors and the synchronous belts; the ankles are mounted at the lower ends of the two shanks respectively; the rope drive motor drives the shank opposite to the ankle to rotate through the steel wire rope. The synchronous belt has the characteristics of high transmission precision and strong anti-interference capability in a non-severe environment, the rope drive has the characteristic of high sensitivity, and all motors are intensively arranged at the uppermost end of the leg structure, so that the center of gravity is concentrated on the upper part, the inertia of leg movement is reduced, and the movement control is facilitated. Meanwhile, the principle that the left leg and the right leg are designed into blocks is adopted, so that the left leg and the right leg can rotate independently, and walking in multiple terrains is facilitated.

The invention discloses an underwater platform data acquisition and transmission system. The system comprises the following steps: an underwater data acquisition module acquires underwater environment information through a heterogeneous sensor and performs standardization processing; the channel modeling module analyzes underwater channel characteristics by using a self-adaptive channel model and generates channel estimation parameters; the channel estimation module is combined with a quantum interference measurement method to correct a channel state and optimize a channel model; the channel optimization and data fusion module constructs a joint feature matching network of underwater acoustic signals and quantum state signals to realize signal fusion and channel feature dynamic optimization; the data transmission optimization module adjusts a data transmission strategy based on the optimized transmission parameters, and the transmission stability is improved; and the energy management module adopts a dynamic power control strategy to realize low-power-consumption operation. According to the method, quantum measurement, sparse Bayesian channel modeling and an adaptive optimization method are combined, and the underwater channel estimation precision, the data transmission efficiency and the system stability are improved.

The present disclosure provides an adjustable dumbbell including a dumbbell body, dumbbell plates, and a dumbbell base for placing the dumbbell body and dumbbell plates. The dumbbell implements transmission in a mode of meshing internal gear rings with gear sets and meshing the gear sets with teeth on telescopic sleeves, such that a high transmission efficiency is achieved, a torque of a handle can be more efficiently converted and transmitted to the telescopic sleeves, the telescopic sleeves can make a faster response, and a weight adjustment speed of the dumbbell is increased. A structure used in the transmission mode has greater load-bearing capacity, has higher wear resistance than a structure in a nut and lead screw mode, and there will be no situation where the dumbbell cannot be used due to thread wear after long-term use.

The invention provides a dynamic adaptive encryption protocol selection mechanism. The mechanism comprises a network condition monitoring module, a data sensitivity evaluation module, an encryption protocol dynamic selection module and a performance feedback adjustment module. Indexes such as network bandwidth and delay are monitored in real time, and the network condition is evaluated; evaluating a sensitivity level of the data to be transmitted; dynamically selecting the most suitable encryption protocol from the encryption protocol library according to the network condition and the data sensitivity; encrypting and transmitting data by using the selected encryption protocol; and monitoring the transmission performance, and adjusting an encryption protocol selection strategy according to feedback. The method can automatically judge network and data conditions, dynamically select an encryption protocol, optimize network performance and resource utilization efficiency on the premise of ensuring data security, improve transmission efficiency and reduce calculation overhead, and has the advantages of automation, security, performance optimization, efficient resource utilization and the like; the method is suitable for the field of network communication with high requirements for safety and performance.

The invention discloses a data transmission method for improving dual-mode communication efficiency. S1, a central coordinator issues station area node information through high-speed broadband carrier communication, so that a station dual-mode module knows a topological relation and a relay agent condition; s2, selecting an optimal communication link for data transmission based on the station signal strength, the number of relay agents and the signal strength of the central coordinator; s3, calculating signal attenuation, and selecting a stable relay node to transmit data; s4, evaluating the signal intensity from the site to the relay agent and the central coordinator, and selecting the most stable path to upload data; s5, transverse and longitudinal data compression is adopted, redundancy is reduced, and transmission efficiency is improved; s6, when there is no relay agent, the site directly communicates with the central coordinator through a dual-mode module, and selects an optimal path; and S7, integrating the stability of the link and the node, optimizing a communication link, and ensuring efficient and stable transmission. The dual-mode communication system is optimized through intelligent link selection, data compression and signal evaluation, the transmission delay is reduced, the stability is improved, and the method is suitable for the fields of intelligent power grids, industrial internet of things and the like.

This application discloses an Ethernet coding method and apparatus, to adapt to a scenario in which a higher transmission bit error rate is caused by a high bandwidth. The method includes: a transmit end encodes first to-be-encoded information by using a first forward error correction (FEC) codeword, to obtain first encoded data, where the first forward error correction FEC codeword is a Reed-Solomon forward error correction (RS-FEC) codeword; and the transmit end encodes the first encoded data by using a second FEC codeword, to obtain second encoded data, where a code length N and an information bit length K of the second FEC codeword satisfy the following formula: M1*N / K≤M2, where M1 is a throughput of the first encoded data, and M2 is a throughput of the second encoded data.

The invention relates to the technical field of electric energy metering information transmission, and discloses an electric energy metering information transmission system and method. Through data acquisition and preprocessing, voltage, current and power signals are acquired, a normalized time sequence matrix is generated, the feature expression capability is enhanced through nonlinear transformation, and the problem of signal complexity is solved. And feature extraction and compression are combined with sparse processing, key feature information is extracted, the data dimension and redundancy are reduced, the storage and transmission pressure is reduced, and the transmission efficiency is improved. The dynamic transmission strategy adaptively adjusts the frequency and priority based on the network state, and enhances the transmission reliability in combination with a verification mechanism. And in decoding and reconstruction, signal features are recovered by using a reverse reconstruction algorithm, so that the precision and data availability under a high compression ratio are ensured. Data analysis and anomaly detection are combined with high-quality features and a dynamic algorithm, abnormal values and abnormal fluctuations are recognized in real time, and the adaptive capacity of the system in a complex environment is improved.

The utility model discloses an antenna device and a radar. The antenna device comprises a waveguide feed layer, a waveguide routing layer and a slot radiation layer, the waveguide feed layer comprises an outer waveguide cavity and an inner waveguide cavity, and a power division structure and a first inner waveguide transmission structure are arranged on the surface of the side, away from the waveguide feed layer, of the waveguide routing layer. An outer waveguide transmission structure and a second inner waveguide transmission structure are arranged on the surface of the side, close to the waveguide feed layer, of the waveguide routing layer, and the outer waveguide transmission structure is used for transmitting electromagnetic signals between the outer waveguide cavity and the power division structure. The first inner side waveguide transmission structure and the second inner side waveguide transmission structure are used for transmitting electromagnetic signals between the inner side waveguide cavity and the power division structure, and the slot radiation layer comprises a radiation slot arranged corresponding to the power division structure. The antenna device and the radar provided by the embodiment of the utility model have the advantages of high transmission efficiency, wide working bandwidth, flexible antenna layout, low batch production cost and the like.

The invention relates to the technical field of satellite transceiving, in particular to a Ka-band satellite small station transceiver system which comprises an antenna module, a transceiving switching module, a low-noise amplification module, a frequency conversion module, a signal processing module, a power management module and a system control module. According to the Ka-band satellite small station transceiver system, the accuracy and stability of antenna beam adjustment are improved in combination with adaptive filtering, and many problems existing in Ka-band application of an existing satellite small station transceiver system are solved; the system has the remarkable advantages of high receiving and transmitting link isolation, high noise suppression capability, low power consumption, small size, good compatibility to multi-band multi-mode signals and the like, and has wide application prospects in the field of satellite communication, and meanwhile, the signal processing module applies a power inversion algorithm based on a minimum mean square error (LMS) algorithm to improve the quality of transmitted signals. And the transmission quality of the signal in the satellite small station scene in the transmission process is effectively improved.

The invention relates to a low-cost HDMI (High Definition Multimedia Interface) video optical transmission device and a transmission method based on an FPGA (Field Programmable Gate Array), which are characterized in that the FPGA is used for encoding and decoding HDMI video signals, and a professional video encoding and decoding chip is replaced; meanwhile, a brand-new video transmission frame architecture is designed, effective video data are framed into data frames for transmission at a transmitting end, frame identifiers are set in the data frames, the data frames are deframed into video data according to the frame identifiers at a video recovery end, and according to different resolutions, an IP core of a local clock of an FPGA is used for dynamic adjustment to adapt to various resolutions. Video signals such as line and field signals are output, and a professional pixel clock recovery chip and a DDR3 cache chip are replaced; the whole scheme is high in transmission efficiency, small in transmission delay, capable of achieving real-time transmission, low in hardware system cost, small in size and suitable for application and popularization.

The invention discloses an integrated linear steering engine, which belongs to the technical field of linear steering engines, and comprises a shell, and a motor assembly, a transmission assembly and a sensor which are arranged in the shell, the transmission assembly comprises a multi-stage gear pair, a lead screw pair and an output shaft assembly. The lead screw pair output shaft assembly and the motor assembly are arranged in parallel. The multi-stage gear pair comprises an input gear, a transfer gear and an output gear which are sequentially arranged in a meshed mode, and the input gear is connected with the output end of the motor assembly. The lead screw pair output shaft assembly comprises a lead screw and a nut output shaft. One end of the lead screw is connected with the output gear, the other end of the lead screw is connected with the nut output shaft, and the nut output shaft extends out of the shell to achieve linear output. The sensor comprises a rotary transformer sensor, and the rotary transformer sensor is arranged at the end, away from the output end, of the motor assembly. The size and weight of the steering engine can be greatly reduced, and the steering engine has the advantages of being large in output torque and high in transmission precision.

The invention provides an all-dielectric film system structure with visible near-infrared low transmission vegetation simulation, intermediate infrared high reflection and microwave high transmission. The device sequentially comprises, from top to bottom, a visible near-infrared simulated vegetation layer which is composed of first to fourth dielectric layers and is configured to simulate vegetation reflection spectrum characteristics in a wave band of 380-2500 nm and has a low transmission characteristic; the intermediate infrared high-reflection layer is formed by alternately stacking a first dielectric layer and a third dielectric layer, and is configured to form high reflection in a wave band of 3-14 microns; and a substrate layer; the thickness of the whole film layer is far smaller than the microwave wavelength, so that the film system keeps high transmission in the microwave band. According to the invention, the amorphous InSb material with high loss characteristic in visible near-infrared light is introduced, so that the average transmissivity of 1500-2500 nm is reduced to 0.095 while high-precision simulation of the vegetation reflectivity spectrum is realized, thereby realizing simulation of low transmissivity of the wave band vegetation.

The invention provides an efficient transmission algorithm for HPLC carrier communication data, which belongs to the technical field of carrier communication, and comprises the following steps of: step 1, double-link separation processing: respectively processing frame control data and load data by adopting two separated links; 2, a frame control data processing flow: carrying out improved Turbo coding on the frame control data; step 3, a load data processing flow: firstly, carrying out adaptive scrambling on load data, and adopting Turbo coding with different parameter configuration from frame control data; step 4, OFDM symbol generation and transmission: adopting an optimized fast algorithm to reduce the operand and the processing time; and step 5, receiving end processing flow: respectively adjusting frame control and load data by adopting AGC (Automatic Gain Control) and time synchronization. The algorithm is high in anti-interference capability, remarkably reduces the bit error rate, is high in transmission efficiency, can adapt to different power line channel environments and data transmission requirements, and has good universality and stability.

The invention relates to the field of photoelectric hybrid computing, and discloses an inter-chip data transmission processing method based on a photoelectric hybrid architecture, which comprises the following steps of: converting an electric signal into an optical signal through a high-speed SerDes interface by virtue of cooperative work of an electric chip and an optical chip, and performing high-speed data processing and computing by utilizing an optical device in the optical chip, the processed optical signal is converted into an electric signal through a photoelectric converter, and the electric signal is returned to an electric chip for subsequent calculation; through the photoelectric hybrid architecture, the electric chip focuses on complex calculation tasks, and the optical chip is responsible for high-speed data transmission and primary processing, so that the data transmission efficiency and the calculation performance are remarkably improved, and the power consumption of the system is reduced. The method can effectively improve the performance in a large-scale parallel computing task, has lower energy consumption and higher transmission efficiency, and is particularly suitable for the fields of high-performance computing, deep learning and the like.

The invention discloses a lightweight transmission and loading optimization method for cloud rendering of a high-precision three-dimensional model, belongs to the technical field of network transmission, and aims to solve the problems of large data volume, high transmission delay and slow loading of cloud rendering of the high-precision three-dimensional model. Carrying out importance evaluation on the rendering primitives, constructing a feature matrix and a weight vector, and determining important data points through matrix multiplication; important data points are subjected to lightweight coding and preferential transmission, and non-important data points are subjected to high-strength compression or delayed transmission. At the client side, client importance re-evaluation is carried out on received rendering data blocks, a client feature matrix and a weight vector are constructed, high-priority loading data are determined through matrix multiplication, and decoding, loading and rendering are preferentially carried out. According to the invention, lightweight transmission and rapid loading of the high-precision three-dimensional model are realized, and the user experience and the resource utilization efficiency are remarkably improved.

The invention relates to the technical field of wireless charging, in particular to a self-adaptive wireless power transmission system and a receiver free positioning method thereof. The system is characterized in that a transmitting end comprises an inverter circuit, a transmitting end compensation network, a compensation network input detection circuit and an array transmitter, and the array transmitter comprises seven transmitting coils; the receiving end comprises a receiving coil, a receiving end compensation network and a load voltage detection circuit; the control system comprises a position prediction module and a fuzzy PID controller. The position prediction module is used for predicting the spatial position of the receiving coil by measuring a mutual inductance value between the transmitting coil and the receiving coil based on a neural network optimized by a seagull algorithm; and the fuzzy PID controller is used for acquiring the spatial position of the receiving coil, adjusting the excitation mode of the transmitting coil and the phase of an input signal of the inverter circuit, and optimizing the magnetic field distribution to compensate the offset influence. According to the invention, high transmission efficiency can still be maintained when the receiving coil deviates to a certain extent, and the anti-deviation capability is remarkably improved.

The friction transmission speed reducer comprises a shell, a containing space formed in the shell and extending in the first direction, a first bearing and a second bearing, the first bearing and the second bearing are sequentially and coaxially arranged in the first direction, each of the first bearing and the second bearing comprises an outer ring, an inner ring, a rolling body and a retainer, the outer ring of the first bearing is fixedly connected with the shell, and the inner ring of the second bearing is fixedly connected with the shell. The inner ring of the second bearing rotates in a controlled mode so as to accurately control the transmission speed of the input end, the inner ring of the second bearing and the inner ring of the first bearing rotate synchronously and share an integrated retainer with the first bearing, and the output shaft and the outer ring of the second bearing rotate synchronously. According to the friction transmission speed reducer, the technical means such as coaxial arrangement and retainer integrated design are adopted, so that the problems that an existing micro friction transmission speed reducer is complex in structure, high in machining difficulty, small in selectable range of the reduction ratio and the like are successfully solved; and the technical effects of more stable large torque output and higher transmission precision can still be achieved.

The invention provides a feeding and discharging device and an annealing furnace comprising the same. The feeding and discharging device comprises a rack, a guide rail and a skip car, the rack and the guide rail are both embedded underground, installation space is saved, and maintenance is convenient. The skip car is driven to operate in a gear and rack meshing mode, the slipping risk is avoided, the transmission efficiency is high, and synchronism is good. The guide wheels are arranged on the two sides of the skip car and can abut against the top walls of the concave parts of the guide rails in a rolling mode, transverse deviation and vertical vibration of the skip car can be effectively prevented, and the precision and stability of the moving track are guaranteed. The guide wheel can be adjusted through an adjustable mechanism to adapt to guide rails of different specifications, the structure is simple, operation is convenient, and the adjusting precision is high. The device is stable in operation, excellent in vibration resistance, long in service life and suitable for material conveying equipment such as an annealing furnace.

The invention discloses a rotary joint actuator and a design method thereof.The rotary joint actuator comprises a fixed shell, the fixed shell comprises a front cover and a rear cover, and a frameless motor and a cam curved surface tooth planetary reducer are both arranged in a mounting cavity reserved between the front cover and the rear cover; the driving device is connected with the frameless motor; the driving device comprises a driving plate, the encoder is fixed on the driving plate, the driving plate is fixed inside a driving cover plate, and the driving cover plate is fixed outside the rear cover; the cam curved surface tooth planetary reducer comprises an input bearing, a planetary needle bearing, a planetary carrier set and a planetary gear set. The planetary gear set comprises a sun gear, a curved surface tooth planet gear and a gear ring which is in conjugate engagement with the curved surface tooth planet gear. The invention discloses a rotary joint actuator and a design method thereof, and the rotary joint actuator is compact in structure and has the characteristics of large transmission ratio, high transmission precision and good stability under the condition of size control.