[{"data":1,"prerenderedAt":90},["ShallowReactive",2],{"\u002Fglossary\u002Fquasi-direct-drive":3},{"id":4,"title":5,"alternateName":6,"body":7,"description":80,"extension":81,"keywords":82,"meta":83,"navigation":84,"path":85,"seo":86,"stem":87,"updated":88,"__hash__":89},"glossary\u002Fglossary\u002Fzh\u002Fquasi-direct-drive.md","准直驱执行器（QDD）","Quasi-Direct Drive (QDD) Actuator",{"type":8,"value":9,"toc":74},"minimark",[10,15,27,32,39,52,55],[11,12,14],"h1",{"id":13},"准直驱执行器是什么","准直驱执行器是什么？",[16,17,18,22,23,26],"p",{},[19,20,21],"strong",{},"准直驱执行器","（Quasi-Direct Drive，QDD）是一类采用大直径、大扭矩电机搭配",[19,24,25],{},"小减速比","（通常 5–20）减速器的机器人执行器方案，最早由 MIT Cheetah 等腿式机器人项目推广。\"准直驱\"意为接近直接驱动（无减速）但保留少量减速。",[28,29,31],"h2",{"id":30},"核心特性反向可驱动","核心特性：反向可驱动",[16,33,34,35,38],{},"减速比越大，从输出端反向拖动电机就越困难（摩擦与惯量按减速比平方放大）。小减速比让关节保持",[19,36,37],{},"反向可驱动性","（backdrivability）：",[40,41,42,46,49],"ul",{},[43,44,45],"li",{},"外部冲击能被电机\"让\"掉而不是硬抗，落地、碰撞时保护齿轮；",[43,47,48],{},"通过电机电流即可估计关节外力（本体感知力控），无需昂贵的力矩传感器；",[43,50,51],{},"力控带宽高，适合跳跃、奔跑等高动态运动。",[28,53,54],{"id":54},"与高减速比方案的取舍",[16,56,57,58,63,64,68,69,73],{},"高减速比（谐波、RV）扭矩密度高、保持力矩省电，但牺牲反驱与抗冲击；QDD 反之。腿式机器人普遍选择 QDD 路线。BXI ",[59,60,62],"a",{"href":61},"\u002Fmotors\u002Fadvanced-motors","85\u002F70\u002F50 系列关节电机","采用 19.5 减速比的",[59,65,67],{"href":66},"\u002Fglossary\u002Fplanetary-gearbox","行星方案","，属于典型的准直驱设计，支持 MIT 协议力控（见 ",[59,70,72],{"href":71},"\u002Fglossary\u002Fmit-protocol-can","MIT 协议","）。",{"title":75,"searchDepth":76,"depth":76,"links":77},"",2,[78,79],{"id":30,"depth":76,"text":31},{"id":54,"depth":76,"text":54},"准直驱执行器采用大扭矩电机搭配小减速比（约 5–20）减速器，兼顾扭矩密度与反向可驱动性，能通过电流估计外部受力，是高动态腿式机器人的主流执行器方案。","md","准直驱, QDD, 反向可驱动, 本体感知执行器, 腿式机器人执行器",{},true,"\u002Fglossary\u002Fzh\u002Fquasi-direct-drive",{"title":5,"description":80},"glossary\u002Fzh\u002Fquasi-direct-drive",null,"4gBDoEJkFuYE-GtjvSJGuM2NXJyMPpLGNxbtz_UP-CM",1783425867003]