In the humanoid robot industry, hardware capabilities determine the upper limit of humanoid robot performance, and the degrees of freedom of joints determine the complexity of the robot's motion model. In the field of joints, the cycloidal solution is a pre-research route for some robot companies, but no company in the industry has taken cycloidal technology as its main technical solution.

Generally speaking, the joint module solutions for humanoid robots mainly consist of planetary and harmonic reducers. The technical characteristics of each of the two solutions determine their different application boundaries.

Among them, the planetary reducer is a relatively mature solution with low cost and processing difficulty. Relying on a multi-stage gear transmission structure, it can output extremely high torque. However, the large backlash has always been a difficult problem for the planetary solution. After impact, the backlash will become larger, increasing the control difficulty of the robot.

The unique design of the harmonic reducer, which transmits power through the deformation of the flexible gear, has achieved extremely high transmission accuracy and thus become a standard configuration in the field of collaborative robots. However, the strength of the flexible gear is insufficient, and it is prone to breakage under high-frequency impact, resulting in inadequate impact resistance. The lifespan and reliability have become fatal weaknesses, restricting its application in dynamic scenarios.

It can be found that in traditional joint solutions, planetary reducers have strong torque but insufficient precision, while harmonic reducers have excellent precision but are prone to impact damage. These limitations have led humanoid robots to face the predicament of "difficulty in achieving both power and precision" for a long time.

In the field of industrial robotic arms, RV reducers are widely used. As a type of RV reducer, the cycloidal reducer precisely fills the gap between planetary and harmonic schemes in terms of its technical characteristics. The principle of cycloidal wheels meshing with pinion gears inherently endows them with high torque and shock resistance. This characteristic enabled them to initially dominate scenarios that require high precision, high reliability, and heavy loads, such as industrial robot joints and machine tool turntables.

At present, when the capabilities of humanoid robots are in urgent need of improvement, some humanoid robot enterprises have shifted their focus to the research and development of cycloidal solutions. However, the traditional cycloidal scheme, due to its rough tooth profile design, large volume, large backlash (usually over 3 arc minutes), and high reverse drive force, increases the control difficulty of the robot, and its overall performance is difficult to meet the design requirements of humanoid robots.

The newly launched collimated direct drive integrated cycloidal joint module is positioned as the "hexagonal warrior" among joint modules. It deeply integrates high-precision cycloidal reducers, self-developed torque motors, drive systems and dual encoders, thus achieving features such as lightweight, high explosive power, shock resistance, high precision, fast response, high integration and strong stability. Through technological reconstruction, it retains industrial-grade power performance while achieving lightweighting through materials, thus filling the gap in humanoid robot joint technology and transforming the cycloidal joint module into a high-performance power unit for humanoid robots.

To further enhance the torque output accuracy and response speed of the joints, the R&D team independently developed motor drivers, main control boards and power management systems, significantly increasing the output power and power density. In the field of motor drivers, we have deeply optimized friction compensation technology to effectively counteract the adverse effects of cogging torque. Moreover, we have independently developed a moment of inertia compensation algorithm to achieve extremely low phase delay and high-speed response. With a precise current torque coefficient compensation algorithm, we ensure accurate and error-free torque output. In addition, the breakthrough power management system adopts an intelligent optimization strategy, significantly extending battery life while being combined with multiple safety protection designs to ensure the stable operation of the system in all aspects.

In the future, with the collaborative innovation of multimodal large models and high-performance hardware, products such as humanoid robots may truly integrate into production and life, becoming a key force in changing the physical world.

The collimated cycloidal joint module has achieved a comprehensive leap in "torque density, precision, and response speed" of the joint module. Its significance lies not only in addressing industry pain points but also in endowing humanoid robots with extraordinary physical fitness, bringing the interaction between robots and the physical world from an ideal to reality.

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