Design of a High-torque Robot Joint and Its Control System

Qiang Hua, Weigang Zhou, Shiqiang Zhu, Yunchang Yao, Chao Cheng, Anhuan Xie, Dan Zhang

Research output: Journal article publicationConference articleAcademic researchpeer-review

3 Citations (Scopus)

Abstract

The robot joint is one of the key components of robots. With the wide application of robot joints, the demand for joint torque is becoming higher and higher. However, at present, most high-torque robot joints are generally large in weight and size, which creates problems for some applications. For this purpose, a high-torque and high-torque-density robot joint is proposed. To improve the joints' torque density, the lightweight motor and reducer with a large reduction ratio are selected, and the mechanical structure design is based on weight reduction, miniaturization, and heat dissipation. The maximum torque of the proposed robot joint can reach up to 182Nm, and its mass is only 1.8kg. Besides, an embedded control system is designed to control the robot joint. Many experiments were conducted to measure the robot joint's characteristics, such as torque, speed, and control features. And the designed robot joints are successfully applied to a biped robot. The results verify the performance of the designed robot joint and its control system.

Original languageEnglish
Article number012007
JournalJournal of Physics: Conference Series
Volume2281
Issue number1
DOIs
Publication statusPublished - Apr 2022
Externally publishedYes
Event2022 6th International Conference on Artificial Intelligence, Automation and Control Technologies, AIACT 2022 - Virtual, Online
Duration: 23 Apr 2022 → …

ASJC Scopus subject areas

  • General Physics and Astronomy

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