哈尔滨工程大学学报2026，Vol.47Issue(6)：1350-1358,9.DOI:10.11990/jheu.202412040
准直驱关节传动透明度研究的起源、现状与发展趋势
Origin,current status,and development trends of transmission transparency research on quasi-direct drive joints
摘要
Abstract
In recent years,the industry has attempted to apply the quasi-direct drive joint to humanoid robots,but the theoretical research of transmission transparency is insufficient,which affects its large-scale industrialization.The origins of transmission transparency is explored.This study traced the origin of transmission transparency and analyzed the current status of its theoretical research,experimentation,and characterization.Key challenges,research hotspots,and future de-velopment trends were identified.Suggested directions for future research include:modeling and parameter optimization for transmission transparency;investigation of reducer design effects on transmission transparency;establishment of a com-prehensive evaluation system for transmission transparency;and integrated optimization of quasi-direct drive joints and complete robots to achieve force control transparency in robot legs.A clear definition of transmission transparency was pro-vided,and evaluation indicators along with an evaluation system were proposed.The relationships between transmission transparency and factors including proprioceptive capability,mechanical impedance,backdrivability,reducer efficiency,transmission ratio,static friction,dynamic friction,and viscous friction were discussed.This work contributes to techno-logical advancements and industrial applications of quasi-direct drive joints and humanoid robots.关键词
减速器/减速器效率/传动比/机械阻抗/反驱能力/传动透明度/准直驱关节/人形机器人Key words
reducer/reducer efficiency/transmission ratio/mechanical impedance/backdrivability/transmission transparency/quasi-direct drive joint/humanoid robot分类
信息技术与安全科学引用本文复制引用
丁宏钰,石照耀,张攀,徐航,莫月珠,刘辉华..准直驱关节传动透明度研究的起源、现状与发展趋势[J].哈尔滨工程大学学报,2026,47(6):1350-1358,9.基金项目
国家自然科学基金面上项目(52375048) （52375048）
国家自然科学基金青年项目(52305046) （52305046）
广东海洋大学科研启动项目(1302-360302022301). （1302-360302022301）
