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.

Abstract: The present disclosure provides a reducer gear for robot, and a method for generating the gear and a reducer therewith. The reducer gear comprises: 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.

Abstract: Disclosed is a triple harmonic speed reducer, which enables a flexible inner gear to generate three tooth misalignment motions after a wave generator rotates for one circle, so that the harmonic speed reducer has higher position precision and rotation precision, more stable transmission, and more stable operation. The triple harmonic speed reducer includes a wave generator, a flexspline and a rigid circular spline, wherein the flexspline includes a flexible inner gear and an output part, the wave generator is arranged in an inner installation cavity of the flexible inner gear, the wave generator includes an input shaft end and a cam, wherein a flexible bearing is annularly arranged between an outer ring peripheral surface of the cam and an inner ring peripheral surface of the flexible inner gear, the cam of the wave generator is specifically of a three-convex structure.

Abstract: Disclosed is a triple harmonic speed reducer, which enables a flexible inner gear to generate three tooth misalignment motions after a wave generator rotates for one circle, so that the harmonic speed reducer has higher position precision and rotation precision, more stable transmission, and more stable operation. The triple harmonic speed reducer includes a wave generator, a flexspline and a rigid circular spline, wherein the flexspline includes a flexible inner gear and an output part, the wave generator is arranged in an inner installation cavity of the flexible inner gear, the wave generator includes an input shaft end and a cam, wherein a flexible bearing is annularly arranged between an outer ring peripheral surface of the cam and an inner ring peripheral surface of the flexible inner gear, the cam of the wave generator is specifically of a three-convex structure.