Integrated Servo Linear Actuator Module for Humanoid Robot Limbs

**Integrated Servo Linear Actuator Module for Humanoid Robot Limbs**  
Combining drive, transmission, force sensing, and position feedback into one compact unit.

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🔧 Six Core Components:

1. **2-DOF Spherical Rod-End Bearing**  
   Hinged at both ends, allows slight angular misalignment and torsion, adapting to multi-directional deformations in robotic joints to avoid motion stalling. Ideal for leg and upper-arm swing joints.

2. **Four-Point Contact Bearing (Compact, High Load Capacity)**  
   Compact precision bearing structure with excellent radial and axial load resistance. Enables high load support within a slim tubular housing, minimizing overall outer diameter.

3. **High-Lead Planetary Roller Screw**  
   Superior load capacity, impact resistance, and lifespan compared to ball screws. High-lead design enables high-speed extension/retraction (max linear speed 600 mm/s), balancing thrust and motion speed.

4. **High-Performance Frameless Torque Motor**  
   Frameless direct-drive structure offering high torque density, lightweight, and rapid response. Eliminates redundant transmission backlash, driving the screw directly for enhanced control stiffness.

5. **High-Precision Magnetic Encoder**  
   Real-time acquisition of motor angular position for closed-loop position control. High positioning accuracy with non-contact structure resistant to vibration and dust.

6. **High-Precision Tension/Compression Load Cell**  
   Embedded force feedback measuring real-time output thrust. Enables compliance control, collision protection, and force-controlled human-robot interaction (e.g., robot assisted support, grasping, landing cushioning).

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✨ Key Performance Features:

- **High Thrust Density**  
  Delivers up to 8 kN thrust in a compact, lightweight form factor, meeting weight-reduction requirements for humanoid robots.

- **Full Closed-Loop Sensing**  
  Dual closed-loop control (position + force) enables precise compliance, impact absorption during landing, and external force detection.

- **Highly Integrated Design**  
  Motor, screw, sensors, and bearings all enclosed in a single cylindrical housing. Simplifies cabling and improves overall assembly efficiency.

- **High Dynamic Response**  
  Frameless motor + high-lead screw achieves rapid extension/retraction speed, ideal for high-dynamic gaits such as walking, running, and jumping.