机器人关节的减速比,为什么不是越大越好
编译自 MDPI Electronics 2026, 15(17), 3834《Gear-Ratio Spectrum for Robotic Joint Motor Drive Systems: Multiphysics Coupling and Design Trade-Offs》
在关节模组的设计里,减速比经常被当成一个可以随手拧的旋钮:转矩不够就加大减速比,速度不够就减小减速比。香港理工大学与哈尔滨工业大学(深圳)团队的一篇综述给出了另一种视角,减速比不是一个可以独立调节的参数,而是由电机、传动、热路径、传感和控制共同实现的系统级设计坐标。
先看基础映射关系
论文给出了关节驱动的基本关系:
· 减速比 N = 电机转速 / 输出转速,且 N ≥ 1
· 输出转矩 Tout = η · N · Tm,η 为前向转矩效率
· 输出转速 ωout = ωm / N
· 反射到输出侧的电机惯量 Jref = N² · Jm
前三条是线性的,第四条是平方关系。这个平方项是很多问题的源头:提高减速比在放大转矩、降低速度的同时,会把电机惯量以 N 的平方倍反射到输出侧,直接影响动态响应与力控表现。
损耗的再分配
电机铜损 Pcu = I²R,电流与电机侧转矩需求成正比;减速器损耗 Ploss,gear = (1 − η) · Pin。
提高减速比可以降低电机电流和铜损,但代价是啮合、轴承、润滑、密封以及多级传动本身的损耗增加。两边的效果方向相反,净结果并不是单调的,需要具体算。
更值得注意的一个细节是方向效率。论文引用的一项研究显示,一个约 248:1 的舵机齿轮箱,如果忽略摩擦和方向效率的影响,输出力的估计误差约 30%;引入方向效率系数之后,误差降到 2% 到 4%。同一个齿轮箱在正向传动和反向传动下的效率并不相同,凡是需要做力估计的场景,这部分都不能简化。
热决定过载时长
集总热平衡模型写起来不复杂:
· Cth · dΔT/dt = Ploss(t) − ΔT / Rth
· 稳态温升 ΔTss = Rth · Ploss
低减速比意味着电机要直接输出大转矩,铜损、磁体温升、机壳导热和过载持续时间都会受限。高减速比降低了电机的转矩需求,却把热量转移到减速器一侧,紧凑封装下的润滑与散热又成为约束。论文给出的一个实例是:某款高转矩机器人膝假肢的整体减速比约 35:1,60 分钟热测试的峰值壳温约 58.9 °C。
背驱性与控制带宽
减速比提高以后,转子在输出侧显得更「重」,外部扰动和人力经过减速器被衰减,电机对交互力的可见性下降。反过来,低减速比保留透明度。论文列出的对照数据很能说明问题:
· QDD 髋外骨骼,减速比 8:1,背驱转矩约 0.4 N·m,控制带宽 62.4 Hz
· 动力膝踝假肢,减速比 22:1,连续关节转矩 57.2 N·m,反射转子惯量 0.0557 kg·m²,台架背驱转矩 1 至 3 N·m
减速器的非理想性同样不能忽略。谐波减速器的运动误差在角分(arcmin)量级,并伴随柔度;摆线与 RV 减速器存在微米级间隙和齿形修形;论文提到一个 49:1 的摆线减速器,实测空程(lost motion)接近 1 arcmin。
控制层面用双惯量模型描述:τs = Ks(θm/N − q) + Bs(θ̇m/N − q̇)。
传动链的有限刚度会引入谐振与反谐振。如果只在电机侧安装编码器,当弹性变形或空回明显时,编码器读不到负载侧的真实状态,需要增加负载侧传感或状态观测器。Mini Cheetah 采用的是 6:1 的单级减速,即便如此,仍然存在约 30 Hz 的皮带共振,直接限制了控制带宽和冲击响应能力。
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" alt="机器人关节的减速比,为什么不是越大越好" />
图 1 减速比谱系:典型关节方案的实测对照 数据来源:MDPI Electronics 2026, 15(17), 3834
高减速比端的代价
谐波、摆线、RV、行星是工业领域的主流减速器拓扑,能提供紧凑的转矩放大和定位能力。但它们的反射惯量、摩擦、空程、迟滞、刚度变化以及方向效率,在力控场景里都更敏感。
论文给出的一个直观例子是 ROBOTIS DYNAMIXEL XM540-W270:齿轮比 272.5:1,重量 165 g,空回 15 arcmin,堵转转矩 10.6 N·m(12 V、4.4 A),空载转速 30 rpm。高减速比换来了大转矩和紧凑体积,代价是明显的空回。
直驱与准直驱
直驱方案彻底去掉减速器,空回、齿轮摩擦和反射惯量降到最低,透明度和抗冲击能力最好。代价是电机的转矩密度、质量、铜损和散热负担急剧上升。
准直驱(QDD)在前端加一级低减速比,配合高转矩密度电机,在恢复部分转矩优势的同时抑制阻抗方面的惩罚。MIT Cheetah、Mini Cheetah(6:1)、Cheetah 3 都属于这一路线,它本质上是在转矩、透明度、热和重量之间找一个更平衡的落点。
一次受控扫描给出的窗口
论文做了一组同电机、变减速比的仿真扫描,任务是时变负载:转矩 τL = 8 + 7cos(2πt/T) N·m,速度 ωL = 4sin(2πt/T) rad/s,周期 T 取 2 s。候选减速比取 1、3、10、30、100、300。约束条件为 24 V 母线、峰值电流限 30 A,热参数 Rth = 1.2 K/W、Cth = 180 J/K,反射惯量上限定为 0.10 kg·m²(即 Jref/JL ≤ 2.5)。
结果很有代表性:
· N = 1 和 N = 3:电流饱和,峰值电流分别达到 159.58 A 和 53.22 A,不通过
· N = 100 和 N = 300:所需电压分别达到 40.15 V 和 120.18 V,超出母线限制;反射惯量分别为 0.72 和 6.48 kg·m²,带宽代理值低于 8 Hz,不通过
· N = 10:带宽代理值 18.22 Hz,温升 42.4 °C,通过
· N = 30:带宽代理值 9.05 Hz,温升 28.6 °C,条件性通过(传动刚度取最低值时降到 6.40 Hz,不通过)
一次扫描下来,可用区间落在 10:1 到 30:1 附近,两端都被不同约束卡死。低减速比卡在电流上,高减速比卡在电压、反射惯量和带宽上。AI8evb7SIzB5ag+zUQmvoMYgUBI2eiugrmhO7zCfGJ6QRnRFM3ad3HhknqoM3HFSy4O4lnwex5HqxNQBnFtkhOHbQJ6wDkDYyenjMMU/oSZapxJKIHHv0kqUddgQcoNijLtsB3cM9gmBzLgjOGWzQG4lugiAhw3nO/kynZyG/XE9HwIKEDDCmVHfuPaX6xe/IZ0sOuhnyinPPH5UHPMd3MfdYfxDWAlJBuab+bKVUhBGyboC0sKBHDzKULPWFhZzBQloDIWwWpuZW+v9c9VIeAlVn8EwEF38/2G/U0f4vBjPRKj7b3wSTY3klVfobknm+DIYbAQ4JPFUuZa4noZ7bXSe6leIVBOXg/Z/B/MAY9u+d629AdriOnaWW+YERiBFwLe8zKZ0UmUgGjW40J+oSjCeis21RyRolMRcuXVLdgdGSzJvPooheA6iY4Hlw7SGCkE0EHeYWUc47qE+Tgagq59KRDoOg8Vk8736rqxbJdUpmZDAWIFeQPn6fk2uNN+4XHmsiPsFKjkHgVEtWvKCj8+gInEPwuvYnILl49XV/ZQdrkgP3mvUuYf/Hpcu6JgYL7RDVg6h0tJ8t1aDkPqc0KfHgGISescv5Qzw51iYt8bHnHw/YEjgLujtG+guMcTIziNhxXkT+IOv+Sr39DfQWeo17gbOlo2vLa4IOAuw2+soxj53eQreS4QGRCe63g+igE12RjmTfRRQZO405zXf6xY2L9sebvYJEFy912/nJ6yGgyaLFfkAYu+oo6gjcf1f4yQE96/Qr98L/+7knyQICZJjhzHDptV0F9yuox7lu3Vlj+xNGyAwGw3WBxeFaBtn1goUMJdrdxccPtxA48JmdOT0MBkP/AWMqmBmSbiA960b38fQl0KlEK4hAEZ2mAiFp2Mn2/RgMhs5hhMxgMBgMBoPBcN3QCHXwoMFg6DKMkBkMBoPBYDAYDAZDP8EImcFgMBgMBoPBYDD0E4yQGQwGg8FgMBgMBkM/wQiZwWAwGAwGg8FgMPQTjJAZDAaDwWAwGAwGQz/BCJnBYDAYDAaDwWAw9BOMkBkMBoPBYDAYDAZDP8EImcFgMBgMBoPBYDD0E4yQGQwGg8FgMBgMBkM/wQiZwWAwGAwGg8FgMPQTjJAZDAaDwWAwGAwGQz/BCJnBYDAYDAaDwWAw9BOMkBkMBoPBYDAYDAZDP8EImcFgMBgMBoPBYDD0E4yQGQwGg8FgMBgMBkM/wQiZwWAwGAwGg8FgMPQTjJAZDAaDwWAwGAwGQz/BCJnBYDAYDAaDwWAw9BOMkBkMBoPBYDAYDAZDP8EImcFgMBgMBoPBYDD0E4yQGQwGg8FgMBgMBkM/wQiZwWAwGAwGg8FgMPQTjJAZDAaDwWAwGAwGQz/BCJnBYDAYDAaDwWAw9BOMkBkMBoPBYDAYDAZDP8EImcFgMBgMBoPBYDD0E4yQGQwGg8FgMBgMBkM/wQiZwWAwGAwGg8FgMPQT/j/s+tnQZi+wcwAAAABJRU5ErkJggg==" alt="机器人关节的减速比,为什么不是越大越好" />图 2 减速比受控扫描:三类约束的归一化曲线与可行窗口 数据来源:MDPI Electronics 2026,
15(17), 3834
选型流程
论文给出的设计流程是迭代式的:先定义任务包络(峰值与 RMS 转矩、最大速度、负载惯量、占空比、精度与交互要求,以及质量、体积、电压、温度的限制),再生成候选减速比范围与兼容拓扑,然后做电机、减速器与热路径的耦合匹配,接着校核空回、传动误差、扭转刚度、摩擦与结构共振,最后迭代收敛。
三类失败对应三条回退路线:转矩速度包络不满足,回到减速比与拓扑重新选;连续转矩、电流或温升不满足,回到电机尺寸与冷却方案;反射惯量、背驱性或非线性不可接受,回到拓扑、预紧与柔顺结构。
一句话总结这篇综述的立场:关节能不能用,取决于完整的关节系统,而不只是转矩放大了多少倍。
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内容来源:本文编译自《Gear-Ratio Spectrum for Robotic Joint Motor Drive Systems: Multiphysics Coupling and Design Trade-Offs》,作者 Yiheng Chen、Zaixin Song、Jincheng Yu,发表于 Electronics 2026, 15(17), 3834。 原文链接:https://doi.org/10.3390/electronics15173834 许可协议:CC BY 4.0(https://creativecommons.org/licenses/by/4.0/) 配图说明:图 2-1、图 2-2 为依据原文数据自行绘制,未使用原文献图片。 说明:本文在原文献基础上进行了中文编译与删节,未改变技术结论与原始数据。 |





