All the electrical systems are integrated in the modular joint, including sensors system, driver system, control system and power system. 该关节具有多种传感器,包括位置传感器、力矩传感器、温度传感器等,它的所有电气系统都集成在关节内部,包括传感系统、驱动系统、控制系统和电源系统。
For the sake of avoiding the piezoelectric ceramics driver to be suffered from the effect of bending moment, a spherical joint is added between the top of piezoelectric ceramics driver and the moving platform. 为了避免压电陶瓷驱动器受到弯矩的作用,在压电陶瓷驱动器的顶部和动平台之间加了一个球形接头。