1.School of Mechanical Engineering, Xi'2.'3.an Polytechnic University
人机交互技术(Human robot interactions, HRI)已得到较为广泛的应用，但HRI相关机器人设备的性能仍受到关节减速器技术的限制。通过梳理国内外学者对机器人关节减速器的研究，特别针对行星齿轮传动、谐波传动、摆线针轮传动以及RV传动技术等常用的机器人关节驱动的主流技术，描述和对比了其结构特点、传动方式和优缺点，并提出了适用机器人关节减速器适用性和性能分析框架，然后针对未来机器人应用场景介绍了齿轮轴承传动和Galaxie驱动器两种新型传动技术，展望了机器人关节减速器技术的技术发展趋势，从而为机器人关节减速器的设计和选型提供参考。
Practical application of Human robot interactions (HRI) has made great progress, but the performance of HRI robot equipment is still limited by the robotic joint reducer. It is sorted out about the research of domestic and foreign scholars on robot joint reducers, especially for the mainstream technologies of common robotic joint reducer such as planetary gear transmission, harmonic transmission, cycloidal pinwheel transmission and RV transmission technology. So the structure characteristics, transmission mode, the advantages and disadvantages are compared and described. Applicability and performance analysis framework of robotic joint reducer is proposed. Then two new transmission technologies of gear bearing transmission and Galaxie drive are introduced according to the future development trend of robots. And the future technology of the robotic joint reducer is prospected, so as to provide reference for the design and selection of robot joint reducer.