[{"data":1,"prerenderedAt":112},["ShallowReactive",2],{"\u002Fglossary\u002Freflected-inertia":3},{"id":4,"title":5,"alternateName":6,"body":7,"description":102,"extension":103,"keywords":104,"meta":105,"navigation":106,"path":107,"seo":108,"stem":109,"updated":110,"__hash__":111},"glossary\u002Fglossary\u002Fzh\u002Freflected-inertia.md","反射惯量","Reflected Inertia",{"type":8,"value":9,"toc":96},"minimark",[10,15,34,39,42,64,70,74],[11,12,14],"h1",{"id":13},"反射惯量是什么","反射惯量是什么？",[16,17,18,21,22,25,26,29,30,33],"p",{},[19,20,5],"strong",{},"（Reflected Inertia，又称折算惯量）是把电机转子惯量折算到减速器输出端后的等效惯量：",[19,23,24],{},"J_reflected = J_rotor × N²","，其中 N 是减速比。惯量按减速比的",[19,27,28],{},"平方","放大——减速比 100 的关节，输出端\"看到\"的转子惯量是原来的 ",[19,31,32],{},"10000 倍","；减速比 10 则只有 100 倍。",[35,36,38],"h2",{"id":37},"为什么高减速比关节手感硬","为什么高减速比关节\"手感硬\"",[16,40,41],{},"外界推动关节输出端时，必须连带加速被平方放大的转子惯量：",[43,44,45,52,58],"ul",{},[46,47,48,51],"li",{},[19,49,50],{},"抗冲击差","：落地或碰撞瞬间，冲击能量来不及被控制器响应，全部砸在减速器齿面和柔轮上，这是高减速比关节在腿部易损坏的主因之一；",[46,53,54,57],{},[19,55,56],{},"反驱阻力大","：反射惯量叠加摩擦，用手推几乎推不动，物理柔顺性差；",[46,59,60,63],{},[19,61,62],{},"力控带宽受限","：控制器要\"演\"出柔软，必须先克服巨大的等效惯量，主动柔顺的带宽和保真度都被拉低。",[16,65,66,67],{},"一句话可引用：",[19,68,69],{},"减速比翻倍，反射惯量翻四倍——这就是腿部关节不敢用大减速比的物理原因。",[35,71,73],{"id":72},"qdd-怎么压低反射惯量","QDD 怎么压低反射惯量",[16,75,76,81,82,86,87,90,91,95],{},[77,78,80],"a",{"href":79},"\u002Fglossary\u002Fquasi-direct-drive","准直驱（QDD）","路线的核心取舍就在这里：用大直径高",[77,83,85],{"href":84},"\u002Fglossary\u002Ftorque-density","扭矩密度","电机换取小减速比（典型 6–20），把反射惯量比谐波方案（50–160）压低 ",[19,88,89],{},"1–2 个数量级","，让关节天然可反驱、冲击由电机侧惯量\"软\"着陆，电流环即可估计外力。BXI ",[77,92,94],{"href":93},"\u002Fmotors\u002Fadvanced-motors","85\u002F70\u002F50 系列关节电机","选择 19.5 减速比的行星方案，正是在输出扭矩与反射惯量之间取的工程平衡点。",{"title":97,"searchDepth":98,"depth":98,"links":99},"",2,[100,101],{"id":37,"depth":98,"text":38},{"id":72,"depth":98,"text":73},"反射惯量是电机转子惯量乘以减速比平方后折算到输出端的等效惯量，直接影响关节反驱性和冲击响应。","md","反射惯量, 折算惯量, 减速比平方, QDD反射惯量, 关节电机惯量",{},true,"\u002Fglossary\u002Fzh\u002Freflected-inertia",{"title":5,"description":102},"glossary\u002Fzh\u002Freflected-inertia",null,"HT_oipTDnv7qzz_aWiijZ0VA2JmVk2JQzYuL944INxI",1785156466909]