Magneto-rheological compliant controller for robot joints
A robot joint and magneto-rheological technology, applied in the field of robotics, can solve the problems of not being able to have rigidity and passive flexibility at the same time
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[0012] The present invention will be further described below in conjunction with the accompanying drawings.
[0013] refer to Figure 1 ~ Figure 3 , a magneto-rheological compliance controller for robot joints, a sealed cavity 3, a first gear 4, a second gear 5 and an electromagnetic coil 6, the sealed cavity 3 is filled with magnetorheological fluid 7, the sealed cavity The body 1 is provided with a first gear 4 and a second gear 5, the first gear 4 and the second gear 5 mesh, the first gear shaft 8 of the first gear 4, the second gear shaft 9 of the second gear 5 They all protrude from the sealed cavity respectively, and the electromagnetic coil 6 used to change the magnetic field strength in the sealed cavity is installed on the side of the sealed cavity 3, and the first gear shaft 8 or the second gear shaft 9 is used to drive The driving mechanism that the first gear or the second gear rotates is connected.
[0014] Further, the first gear shaft 8 is fixedly installed on...
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