人形机器人关节用新型行星滚柱丝杠副加工误差作用机理

乔冠; 贾文浩; 刘永良; 严作海; 王志琪; 谢海波; 高培军

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人形机器人关节用新型行星滚柱丝杠副加工误差作用机理

更新时间：2026-06-23

- 人形机器人关节用新型行星滚柱丝杠副加工误差作用机理
- Mechanism of Machining Error Effects on a Novel Planetary Roller Screw Mechanism for Humanoid Robot Joints
- 西安交通大学学报 2026年
- 作者机构：
  
  1.内蒙古工业大学内蒙古自治区机器人与智能装备技术重点实验室，010051，呼和浩特
  2.浙江兆丰机电股份有限公司，311231，杭州
  3.浙江大学机械工程学院，310027，杭州
  4.特种车辆设计制造集成技术全国重点实验室，014032，包头
  5.杭州新剑机电传动股份有限公司，311300，杭州
- 作者简介：
- 基金信息：
- DOI：
  中图分类号： TH132.1
- 收稿：2026-04-14，
  
  修回：2026-06-23，
  
  录用：2026-06-23，
- 稿件说明：
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乔冠, 贾文浩, 刘永良, 等. 人形机器人关节用新型行星滚柱丝杠副加工误差作用机理[J/OL]. 西安交通大学学报, 2026.

QIAO Guan, JIA Wenhao, LIU Yongliang, et al. Mechanism of Machining Error Effects on a Novel Planetary Roller Screw Mechanism for Humanoid Robot Joints[J/OL]. JOURNAL OF XI’AN JIAOTONG UNIVERSITY, 2026.
乔冠, 贾文浩, 刘永良, 等. 人形机器人关节用新型行星滚柱丝杠副加工误差作用机理[J/OL]. 西安交通大学学报, 2026. DOI：

QIAO Guan, JIA Wenhao, LIU Yongliang, et al. Mechanism of Machining Error Effects on a Novel Planetary Roller Screw Mechanism for Humanoid Robot Joints[J/OL]. JOURNAL OF XI’AN JIAOTONG UNIVERSITY, 2026. DOI：

摘要

为提高人形机器人关节对高承载、高精度和紧凑集成执行器的需求，针对新型反向循环式行星滚柱丝杠副（IRPRSM）在加工误差作用下啮合位置与轴向间隙难以预测的问题，建立了IRPRSM的三体统一螺旋曲面方程和空间啮合模型，得到在误差作用下实际啮合位置、啮合半径、偏角及轴向间隙等位置精度关键参数作用机理。进一步分析表明：偏心误差会使啮合半径和轴向间隙随机构运动呈周期性波动，且丝杠头数越多，波动频率越高；在±0.03 mm误差范围内，丝杠与滚柱中径误差引起的轴向间隙差值不超过2 μm；当仅丝杠或仅滚柱存在牙型角误差时，轴向间隙在0°处达到峰值24.58 μm，误差增至±3°时降至约10~12 μm；当牙型角误差同向等量变化时，轴向间隙仅由22.87 μm增至26.11 μm，表明误差同步变化时对间隙的影响相对较小；分头误差虽不改变轴向接触位置，但会引起上下螺旋曲面间隙重新分配。研究可为人形机器人关节线性执行器中IRPRSM的加工制造和高精度装配提供理论依据，为我国人形机器人关节的多路径发展奠定基础。

Abstract

To meet the requirements of humanoid robot joints for high load capacity

high precision

and compact integration

this study investigates the effects of machining errors on the meshing characteristics of a novel inverted recirculating planetary roller screw mechanism (IRPRSM). Unified three-body helical-surface equations and a spatial meshing model are established to determine the actual meshing position

meshing radius

deflection angle

and axial clearance. Results show that eccentricity errors cause periodic fluctuations in the meshing radius and axial clearance

with the frequency increasing with the number of screw starts. Within ±0.03 mm

the difference between the axial clearances induced by screw and roller pitch-diameter errors is less than 2 μm. When a flank-angle error occurs separately in the screw or roller

the axial clearance peaks at 24.58 μm at 0° and decreases to approximately 10–12 μm at ±3°. When the screw and roller flank-angle errors vary equally in the same direction

the axial clearance increases only from 22.87 μm to 26.11 μm. Thread-start indexing errors do not change the axial contact position but redistribute the clearances between the upper and lower helical flanks. The findings provide a theoretical basis for the manufacturing and precision assembly of IRPRSMs in humanoid robot joint actuators and support the diversified development of related joint technologies in China.

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references

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