导轨丝杠：人形机器人直线运动核心，一步稳不稳全看它

　　Guide screw: the linear motion core of humanoid robots, whether it is stable in one step depends entirely on it

　　在人形机器人研发与落地的浪潮中，运动精度、负载能力与步态稳定性成为核心竞争指标，而很多人忽略了，支撑机器人完成迈步、蹬地、屈伸等动作的关键，并非只有电机与控制系统，导轨丝杠作为将旋转运动转化为直线推力的核心传动部件，直接决定机器人运动的精准度、稳定性与承重能力，是隐藏在机身内部的 “运动骨架”。行业内有一个共识：机器人步态不稳、推力不足、寿命偏低，80% 的问题都出在传动部件上，选对导轨丝杠，才能真正实现人形机器人从 “能走” 到 “走稳、走强” 的跨越。

　　In the wave of research and landing of humanoid robots, motion accuracy, load capacity, and gait stability have become the core competitive indicators. However, many people have overlooked that the key to supporting robots to complete actions such as stepping, pedaling, bending, and extending is not only the motor and control system. The guide wire rod, as the core transmission component that converts rotational motion into linear thrust, directly determines the precision, stability, and load-bearing capacity of robot motion, and is the "motion skeleton" hidden inside the body. There is a consensus in the industry that 80% of the problems with unstable gait, insufficient thrust, and low lifespan of robots lie in transmission components. Only by selecting the right guide screw can humanoid robots truly achieve a leap from "walking" to "stable and strong".

　　人形机器人的关节多为旋转结构，而腿部、小臂等部位需要精准的直线往复运动，这一转换必须依靠导轨丝杠完成。电机输出旋转动力后，通过丝杠结构转化为直线驱动力，搭配导轨的导向与支撑作用，既能保证运动方向精准，又能承受机身重量与运动冲击，形成 “传动 + 导向” 一体化的稳定结构。可以说，没有高性能导轨丝杠的支撑，再的控制系统也难以实现流畅、稳健的直线运动，机器人易出现步态晃动、推力不足、运动卡顿等问题。

　　The joints of humanoid robots are mostly rotating structures, while the legs, arms, and other parts require precise linear reciprocating motion, which must be completed by guide screws. After the motor outputs rotational power, it is converted into linear driving force through the screw structure, and combined with the guidance and support of the guide rail, it can ensure precise movement direction and withstand the weight and impact of the body, forming a stable structure that integrates "transmission+guidance". It can be said that without the support of high-performance guide screw, even the most advanced control system is difficult to achieve smooth and stable linear motion, and robots are prone to problems such as gait shaking, insufficient thrust, and motion lag.

　　当前人形机器人领域的丝杠主要分为行星滚柱丝杠、滚珠丝杠和梯形丝杠三类，不同类型适配不同负载场景，形成清晰的选型逻辑。行星滚柱丝杠是高负载场景的，其螺杆环绕多颗滚柱，通过螺纹啮合传动，具备承载能力、高刚性与长寿命，能将电机动力转化为大推力，支撑机器人躯干重量，完成蹬地、跨步等高强度动作，是腿部等核心直线关节的标配，也是目前高端人形机器人的核心传动方案。

　　The screws in the current field of humanoid robots are mainly divided into three categories: planetary roller screws, ball screws, and trapezoidal screws. Different types are adapted to different load scenarios, forming a clear selection logic. The planetary roller screw is the preferred choice for high load scenarios. Its screw surrounds multiple rollers and is transmitted through threaded engagement, possessing super strong load-bearing capacity, high rigidity, and long lifespan. It can efficiently convert motor power into large thrust, perfectly supporting the weight of the robot's torso and completing high-intensity movements such as kicking and stepping. It is a standard configuration for core linear joints such as legs and is currently the core transmission solution for high-end humanoid robots.

　　滚珠丝杠则是兼顾性能与成本的优选方案，依靠滚珠滚动实现传动，技术成熟、定位精度高、成本更低，传动效率可达 90%-96%，虽承载与刚性略逊于行星滚柱丝杠，但完全能满足小臂、小腿等负载较小的部位需求，是规模化量产场景下竞争力的替代方案，有效降低整机制造成本。而梯形丝杠依靠滑动摩擦传动，效率低、易磨损，仅具备自锁特性，在人形机器人中应用场景极少，无法适配高频次、高精度的运动需求。

　　Ball screw is the preferred solution that balances performance and cost. It relies on ball rolling to achieve transmission, with mature technology, high positioning accuracy, and lower cost. The transmission efficiency can reach 90% -96%. Although its load-bearing and rigidity are slightly inferior to planetary roller screw, it can fully meet the needs of parts with smaller loads such as small arms and calves. It is a highly competitive alternative solution in large-scale production scenarios, effectively reducing the manufacturing cost of the whole machine. However, trapezoidal screw relies on sliding friction transmission, which is inefficient, prone to wear, and only has self-locking characteristics. It has very few application scenarios in humanoid robots and cannot adapt to high-frequency and high-precision motion requirements.

　　导轨丝杠的性能差异，直接体现在人形机器人的实际表现上。高性能导轨丝杠能实现微米级定位精度，保证机器人每一步的步幅精准统一；高刚性结构可抵御运动冲击，避免机身晃动；长寿命设计则降低后期维护成本，提升整机使用周期。对于量产型人形机器人而言，导轨丝杠的选型更是平衡性能与成本的关键，核心关节选用行星滚柱丝杠保障性能，次要部位搭配滚珠丝杠控制成本，形成合理的传动配置方案。

　　The performance differences of guide screws are directly reflected in the actual performance of humanoid robots. High performance guide screw can achieve micrometer level positioning accuracy, ensuring precise and uniform stride of each step of the robot; High rigidity structure can resist motion impact and avoid body shaking; Long life design reduces maintenance costs and improves the overall lifespan of the machine. For mass-produced humanoid robots, the selection of guide screws is the key to balancing performance and cost. The core joint uses planetary roller screws to ensure performance, and the secondary parts are matched with ball screws to control costs, forming a reasonable transmission configuration plan.

　　从精密工业设备到人形机器人，导轨丝杠始终是直线运动的核心支撑。在人形机器人产业化加速的当下，导轨丝杠不再是普通传动配件，而是决定整机运动性能的核心部件。精准的直线推力、稳定的传动效率、可靠的负载支撑，让机器人实现稳健迈步与灵活动作，这枚小小的 “传动核心”，正是人形机器人走向实用化、规模化的关键密码，也成为行业技术竞争的重要赛道。

　　From precision industrial equipment to humanoid robots, guide screws have always been the core support for linear motion. In the current acceleration of the industrialization of humanoid robots, guide screws are no longer ordinary transmission components, but the core components that determine the overall motion performance of the machine. Accurate linear thrust, stable transmission efficiency, and reliable load support enable robots to achieve stable stepping and flexible movements. This small "transmission core" is the key password for humanoid robots to move towards practicality and scale, and has also become an important track for industry technology competition.

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