【高端制造】人形机器人关节传动新方向：摆线减速器——人形机器人行业跟踪报告（九）（黄帅斌/陈佳宁/李佳琦/汲萌/庄晓波/夏天宇）

Core Viewpoint - Precision reducers are essential components in mechanical transmission, providing precise control for robotic movements and are categorized based on engagement methods [4] Group 1: Development of Precision Reducers - Precision reducers have evolved over the years, with various types emerging, including worm gear reducers, cycloidal reducers, harmonic reducers, and RV reducers, each serving different industrial applications [5] - New materials and technologies have led to the development of innovative reducers such as cross slider cycloidal reducers, PSC reducers, and self-eliminating gap reducers [5] Group 2: Application in Humanoid Robots - Humanoid robots represent a new and expansive application for reducers, necessitating precise, stable, and compact designs to address motor torque limitations [6] - The current joint module solutions for humanoid robots primarily utilize planetary and harmonic reducers, with planetary reducers lacking precision and harmonic reducers having insufficient impact resistance [6] Group 3: Advantages of Cycloidal Reducers - Cycloidal reducers combine the advantages of harmonic and planetary reducers, making them a promising direction for joint transmission in humanoid robots [7] - Although cycloidal reducers can achieve high reduction ratios and maintain high load levels, their size and weight are relatively larger, necessitating targeted optimization for better performance in humanoid robot joints [7] Group 4: Technological Breakthroughs - Domestic manufacturer Shuanghuan Transmission has made technological advancements on existing RV reducers, enhancing their suitability for humanoid robot knee and hip joints, meeting high precision, stability, rigidity, and load-bearing requirements [8]