機器人差速減速器主要由太(tai)陽(yang)輪(lun)(lun)(lun)，行(xing)(xing)(xing)星(xing)(xing)輪(lun)(lun)(lun)、內(nei)齒(chi)(chi)圈及行(xing)(xing)(xing)星(xing)(xing)架構成(cheng)，它的三個行(xing)(xing)(xing)星(xing)(xing)輪(lun)(lun)(lun)載(zai)荷均勻分配，采(cai)用(yong)齒(chi)(chi)式浮(fu)(fu)動(dong)機構，即太(tai)陽(yang)輪(lun)(lun)(lun)或行(xing)(xing)(xing)星(xing)(xing)架浮(fu)(fu)動(dong)，或太(tai)陽(yang)輪(lun)(lun)(lun)與(yu)行(xing)(xing)(xing)星(xing)(xing)架同時浮(fu)(fu)動(dong)。減速器中的齒(chi)(chi)輪(lun)(lun)(lun)為(wei)直齒(chi)(chi)漸開線圓柱(zhu)齒(chi)(chi)輪(lun)(lun)(lun)，它具有重量輕，體(ti)積小(xiao)，傳動(dong)效率高、傳動(dong)范圍大、運(yun) 行(xing)(xing)(xing)平穩、噪聲(sheng)低等優點。目前的集中差速減速機，太(tai)陽(yang)輪(lun)(lun)(lun)與(yu)軸(zhou)(zhou)鍵接，內(nei)齒(chi)(chi)圈與(yu)外(wai)齒(chi)(chi)輪(lun)(lun)(lun)通(tong)過螺 栓及銷子聯接成(cheng)整體(ti)，內(nei)齒(chi)(chi)圈通(tong)過外(wai)齒(chi)(chi)輪(lun)(lun)(lun)轉(zhuan)動(dong)，太(tai)陽(yang)輪(lun)(lun)(lun)與(yu)內(nei)齒(chi)(chi)圈同時轉(zhuan)動(dong)帶(dai)動(dong)行(xing)(xing)(xing)星(xing)(xing)輪(lun)(lun)(lun)，行(xing)(xing)(xing)星(xing)(xing)輪(lun)(lun)(lun)通(tong)過銷軸(zhou)(zhou)傳給輸出軸(zhou)(zhou)。

機(ji)器(qi)(qi)人差速器(qi)(qi)減速機(ji)內部是一(yi)(yi)(yi)種行星(xing)(xing)齒(chi)(chi)(chi)輪(lun)(lun)機(ji)構，其中包(bao)括兩(liang)個(ge)(ge)(ge)(ge)行星(xing)(xing)齒(chi)(chi)(chi)輪(lun)(lun)和(he)兩(liang)個(ge)(ge)(ge)(ge)與傳(chuan)動(dong)(dong)(dong)(dong)(dong)軸相連的半(ban)軸齒(chi)(chi)(chi)輪(lun)(lun)，這四個(ge)(ge)(ge)(ge)齒(chi)(chi)(chi)輪(lun)(lun)配置在差速器(qi)(qi)的一(yi)(yi)(yi)個(ge)(ge)(ge)(ge)內部殼體內，并(bing)且(qie)相互之間互相咬(yao)合(he)在一(yi)(yi)(yi)起(qi)，每(mei)(mei)(mei)個(ge)(ge)(ge)(ge)齒(chi)(chi)(chi)輪(lun)(lun)都(dou)(dou)咬(yao)合(he)著另外兩(liang)個(ge)(ge)(ge)(ge)齒(chi)(chi)(chi)輪(lun)(lun)（每(mei)(mei)(mei)個(ge)(ge)(ge)(ge)半(ban)軸齒(chi)(chi)(chi)輪(lun)(lun)都(dou)(dou)咬(yao)合(he)兩(liang)個(ge)(ge)(ge)(ge)行星(xing)(xing)齒(chi)(chi)(chi)輪(lun)(lun)，而(er)每(mei)(mei)(mei)個(ge)(ge)(ge)(ge)行星(xing)(xing)齒(chi)(chi)(chi)輪(lun)(lun)又咬(yao)合(he)兩(liang)個(ge)(ge)(ge)(ge)半(ban)軸齒(chi)(chi)(chi)輪(lun)(lun)），所(suo)以只要其中一(yi)(yi)(yi)個(ge)(ge)(ge)(ge)齒(chi)(chi)(chi)輪(lun)(lun)轉(zhuan)(zhuan)動(dong)(dong)(dong)(dong)(dong)，勢必(bi)會牽動(dong)(dong)(dong)(dong)(dong)其他三個(ge)(ge)(ge)(ge)齒(chi)(chi)(chi)輪(lun)(lun)一(yi)(yi)(yi)同轉(zhuan)(zhuan)動(dong)(dong)(dong)(dong)(dong)，而(er)其中一(yi)(yi)(yi)個(ge)(ge)(ge)(ge)半(ban)軸齒(chi)(chi)(chi)輪(lun)(lun)朝某個(ge)(ge)(ge)(ge)方(fang)向(xiang)轉(zhuan)(zhuan)動(dong)(dong)(dong)(dong)(dong)時，另外一(yi)(yi)(yi)側的半(ban)軸齒(chi)(chi)(chi)輪(lun)(lun)勢必(bi)會向(xiang)反方(fang)向(xiang)旋轉(zhuan)(zhuan)，這個(ge)(ge)(ge)(ge)現象可以通過(guo)實驗證明，當把(ba)車(che)輛的兩(liang)個(ge)(ge)(ge)(ge)驅動(dong)(dong)(dong)(dong)(dong)輪(lun)(lun)懸空，轉(zhuan)(zhuan)動(dong)(dong)(dong)(dong)(dong)一(yi)(yi)(yi)側的車(che)輪(lun)(lun)向(xiang)一(yi)(yi)(yi)個(ge)(ge)(ge)(ge)方(fang)向(xiang)旋轉(zhuan)(zhuan)勢必(bi)會使另一(yi)(yi)(yi)側的車(che)輪(lun)(lun)往反方(fang)向(xiang)旋轉(zhuan)(zhuan)。