A Novel Design and Simulation of Knee Joint for Humanoid Robot with Variable Output Torque

In humanoid robot design, the output capacity of the knee joint plays a crucial role in determining the robot's load-carrying ability. Therefore, when the joint's driving torque remains constant, changing the transmission ratio of the joint is an effective means of enhancing the robot's load-carrying capacity. This paper proposes a knee joint mechanism design that dynamically adjusts the joint's output speed and torque based on the joint's output requirements. Built upon a linkage transmission mechanism, this method involves altering the installation position of the linkage on the thigh and the shank to adjust the joint's output speed and torque. Through dynamic simulations, this approach can expand the load-bearing capacity by 2 to 10 times, providing a mechanism that adapts to the demands of joint output.