Development of humanoid robot joint module based on high-order tooth contour surface

Joint modules are widely used in the field of humanoid robots because of their high energy density, large reduction ratio, and high corner accuracy. As a key driving component of robots, the high torque, high-precision control, and large reduction ratio of articulated modules have become a difficult problem to limit its application, so the design of the structure of articulated module reducer is of great significance to improve the precision and efficiency. Through the design of a double internal meshing structure based on a high-order tooth contour surface, combined with the design of a control module and overall module, a joint module for a humanoid robot is developed. The results show that the joint module has an angle error of about 0.4° and an efficiency of about 88% under the load of 50N-m, which has good precision and high efficiency under heavy load. It provides a reference for the development of the future application of humanoid robots.