公开(公告)号：US12078234B2

公开(公告)日：2024-09-03

申请号：US17482183

申请日：2021-09-22

Applicant: Beijing Institute of Technology

Inventor： Qiang Huang ,  Xuxiao Fan ,  Richeng Huang ,  Gao Huang ,  Jingping Liao ,  Zhangguo Yu ,  Xingzhong Liu ,  Yuyu Zuo

IPC: F16H55/06 ,  B22F5/08 ,  B25J9/10 ,  B33Y10/00 ,  B33Y70/00 ,  B33Y80/00

CPC classification number: F16H55/06 ,  B22F5/08 ,  B25J9/102 ,  B33Y10/00 ,  B33Y70/00 ,  B33Y80/00

Abstract: A reducer gear for robot includes an outer contour layer and a reticulated porous base layer cladded by the outer contour layer; the outer contour layer comprises a mounting surface layer, a tooth surface layer, and a connecting surface layer connected between the mounting surface layer and the tooth surface layer and forming a complete gear outer contour together with the mounting surface layer and the tooth surface layer; the mounting surface layer, the tooth surface layer and the connecting surface layer are compact structures; the reticular porous base layer is located in a cavity formed by the outer contour layer, and fiber trabeculae in a porous grid structure are provided in the reticular porous base layer.

公开(公告)号：US12214498B2

公开(公告)日：2025-02-04

申请号：US17908238

申请日：2020-05-09

Applicant: Beijing Institute of Technology

Inventor： Zhangguo Yu ,  Qiang Huang ,  Yaliang Liu ,  Yuyu Zuo ,  Xuechao Chen ,  Gao Huang ,  Han Yu

IPC: B25J9/00 ,  B25J9/16 ,  B25J13/08 ,  G05B19/4155

Abstract: A robot joint torque control system and a load compensation method therefor are provided, which relate to the technical field of robot joint motion control. A mathematical model of the robot joint torque control system is established first. Equivalent transformation is performed on a system functional block diagram thereof, and then it can be seen that load parameters have a great influence on joint torque output. A load compensation controller is designed to effectively eliminate the influence of the load parameters on an output torque of the joint. The system is equivalent to an inertial element on the basis of the compensation, and then a PD controller parameter is adjusted to increase an open-loop gain of the system, so as to increase a system bandwidth and increase a response speed of the joint torque control system, thereby improving performance of the joint torque control system.