Six-degree-of-freedom manipulator end passive compliant device based on permanent magnet arrangement

Abstract

The application discloses a six-degree-of-freedom mechanical arm end passive compliance device based on permanent magnet arrangement, which realizes impedance along the z direction through first and second axial permanent magnet assemblies which are axially spaced oppositely, realizes impedance along the x / y direction and around the x / y direction through a radial permanent magnet assembly which generates radial repulsive force, realizes impedance around the z direction through a radial permanent magnet assembly which generates radial attractive force, and simultaneously, the impedance along the z direction can be changed by adjusting the distance between the first and second axial permanent magnet assemblies and the number of permanent magnets, and the impedance along the x / y direction, around the x / y direction and around the z direction can be changed by adjusting the thickness of the permanent magnets, the number of the installed permanent magnets and the outer diameter size of the inner ring magnetic pole group or the inner diameter size of the outer ring magnetic pole group in the radial permanent magnet assembly which generates radial repulsive force or generates radial attractive force. By using the application, the advantages of compact structure, convenient dismounting and replacement, flexible impedance adjustment and wide application range are achieved.

Description

Technical Field

[0001] This invention relates to the field of robotic arm technology, and in particular to a passive compliant device at the end of a six-degree-of-freedom robotic arm based on permanent magnet arrangement. Background Technology

[0002] Existing passive compliance devices used in autonomous assembly of robotic arms consist of parallel springs, dampers, or rubber materials. These devices achieve compliant contact between the robotic arm's end effector and the external environment through their inherent stiffness or damping. Furthermore, the flexibility of the passive compliance device can be altered by adjusting the initial state of the springs or rubber materials (higher impedance results in lower flexibility). However, in this structure, the impedance of each degree of freedom is related to the flexibility of the parallel components, and the high coupling of these components prevents independent adjustment of each degree of freedom. Summary of the Invention

[0003] The purpose of this invention is to provide a passive compliant device for the end effector of a six-degree-of-freedom robotic arm based on permanent magnet arrangement. This device can not only achieve compliant contact between the end effector of the robotic arm and the external environment in six degrees of automation, but also independently change the flexibility of each degree of freedom by designing and adjusting the grade, quantity, spacing, and size of the permanent magnets.

[0004] To achieve the above objectives, the present invention adopts the following solution:

[0005] A passive compliant end effector for a six-degree-of-freedom robotic arm based on permanent magnet arrangement includes a housing, a movable shaft, a first axial permanent magnet assembly, a second axial permanent magnet assembly, and multiple sets of radial permanent magnet assemblies. One end of the housing has a mounting end plate, and the other end has an end cover plate. The first axial permanent magnet assembly, the second axial permanent magnet assembly, and the multiple sets of radial permanent magnet assemblies are sequentially arranged axially within the housing. The first axial permanent magnet assembly is fixed to the mounting end plate, and the second axial permanent magnet assembly is arranged at a relative interval from the first axial permanent magnet assembly. The movable shaft passes through the end cover plate and is movably inserted into the housing and connected to the second axial permanent magnet assembly. A first movable space is reserved between the outer periphery of the body component and the inner wall of the housing; axial repulsion is generated between the first axial permanent magnet component and the second axial permanent magnet component; each group of radial permanent magnet components is provided with an inner ring magnetic pole group and an outer ring magnetic pole group, the outer ring magnetic pole group is fixed in the housing and surrounds the outer periphery of the inner ring magnetic pole group; the inner ring magnetic pole group is sleeved on the movable shaft, and a second movable space is reserved between the outer periphery of the inner ring magnetic pole group and the inner periphery of the outer ring magnetic pole group; radial repulsion or radial attraction is generated between the inner ring magnetic pole group and the outer ring magnetic pole group; in the multiple groups of radial permanent magnet components, the radial permanent magnet components that generate radial repulsion and the radial permanent magnet components that generate radial attraction are arranged alternately.

[0006] As a preferred embodiment of the present invention, the radial permanent magnet assembly is provided with three groups, namely a first radial permanent magnet assembly, a second radial permanent magnet assembly, and a third radial permanent magnet assembly. The second radial permanent magnet assembly is disposed between the first radial permanent magnet assembly and the third radial permanent magnet assembly. A radial repulsive force is generated between the inner magnetic pole group of the first radial permanent magnet assembly and the outer magnetic pole group of the first radial permanent magnet assembly; a radial attractive force is generated between the inner magnetic pole group of the second radial permanent magnet assembly and the outer magnetic pole group of the second radial permanent magnet assembly; and a radial repulsive force is generated between the inner magnetic pole group of the third radial permanent magnet assembly and the outer magnetic pole group of the third radial permanent magnet assembly.

[0007] As a preferred embodiment of the present invention, the first axial permanent magnet assembly includes a first axial planar insert connected to the mounting end plate and a plurality of first circular permanent magnets embedded in the first axial planar insert, the plurality of first circular permanent magnets being uniformly arranged along the circumferential direction of the first axial planar insert; the second axial permanent magnet assembly includes a second axial planar insert connected to the movable shaft and a plurality of second circular permanent magnets embedded in the second axial planar insert, the plurality of second circular permanent magnets being uniformly arranged along the circumferential direction of the second axial planar insert; the number of first circular permanent magnets is the same as the number of second circular permanent magnets; the magnetic poles of the first circular permanent magnets and the second circular permanent magnets are the same.

[0008] As a preferred embodiment of the present invention, the first axial planar insert has a first back iron on the surface of the side near the mounting end plate; the second axial planar insert has a second back iron on the surface of the side near the movable shaft.

[0009] As a preferred embodiment of the present invention, the inner ring magnetic pole assembly includes a first radial annular insert sleeved with the movable shaft and a plurality of first square permanent magnets embedded in the first radial annular insert, the plurality of first square permanent magnets being uniformly arranged along the circumferential direction of the first radial annular insert; the outer ring magnetic pole assembly includes a second radial annular insert connected to the housing and a plurality of second square permanent magnets embedded in the second radial annular insert, the plurality of second square permanent magnets being uniformly arranged along the circumferential direction of the second radial annular insert; the number of first square permanent magnets is the same as the number of second square permanent magnets; in the radial permanent magnet assembly that generates radial repulsion, the opposing magnetic poles of the first square permanent magnet and the second square permanent magnet are the same; in the radial permanent magnet assembly that generates radial attraction, the opposing magnetic poles of the first square permanent magnet and the second square permanent magnet are opposite.

[0010] As a preferred embodiment of the present invention, the housing is composed of a first housing and a second housing, one end of the first housing is detachably connected to one end of the second housing, the other end of the first housing is integrally formed with the mounting end plate, and the other end of the second housing is detachably connected to the end cover plate.

[0011] As a preferred embodiment of the present invention, the first housing is provided with a first end face flange, the second housing is provided with a second end face flange adapted to the first end face flange, and the first end face flange and the second end face flange are connected and fixed by bolt and nut pair; the second housing is provided with a third end face flange, and the third end face flange is connected and fixed to the end cover plate by bolt and nut pair.

[0012] As a preferred embodiment of the present invention, the end of the second housing facing the first housing is provided with a protruding ring, the protruding ring extending into and cooperating with the port of the first housing.

[0013] As a preferred embodiment of the present invention, when the end cover plate is closed on the second housing, the end cover plate presses the multiple sets of radial permanent magnet assemblies against the convex ring.

[0014] As a preferred embodiment of the present invention, a first positioning sleeve is sleeved on the movable shaft, one end of the first positioning sleeve abuts against the second axial permanent magnet assembly, and the other end of the first positioning sleeve abuts against the inner ring magnetic pole group near the first housing side; a second positioning sleeve is sleeved on the movable shaft, one end of the second positioning sleeve abuts against the inner ring magnetic pole group away from the first housing side, and the other end of the second positioning sleeve abuts against the shoulder of the movable shaft.

[0015] The passive compliant device at the end of a six-degree-of-freedom robotic arm based on permanent magnet arrangement provided by this invention has the following advantages compared with the prior art:

[0016] The passive compliance device of the present invention achieves impedance along the z-direction through a first axial permanent magnet assembly and a second axial permanent magnet assembly that are axially spaced apart; achieves impedance along the x / y direction and around the x / y direction through a radial permanent magnet assembly that generates radial repulsion; and achieves impedance around the z-direction through a radial permanent magnet assembly that generates radial attraction. Simultaneously, the passive compliance device of the present invention can change the magnitude of impedance along the z-direction (the greater the impedance, the less flexible) by adjusting the distance between the first and second axial permanent magnet assemblies and the number of permanent magnets in the axial permanent magnet assembly; it can change the magnitude of impedance along the x / y direction and around the x / y direction by adjusting the thickness, number, and outer diameter of the inner or outer magnetic pole group in the radial permanent magnet assembly that generates radial repulsion; and it can change the magnitude of impedance around the z-direction by adjusting the thickness, number, and outer or inner diameter of the inner or outer magnetic pole group in the radial permanent magnet assembly that generates radial attraction.

[0017] In summary, the passive compliant device of the present invention can not only achieve compliant contact between the end of the robotic arm and the outside world in six degrees of automation, but also independently change the flexibility of each degree of freedom by designing and adjusting the grade, quantity, spacing and size of the permanent magnets. It has the advantages of compact structure, convenient disassembly and replacement, flexible impedance adjustment and wide applicability. Attached Figure Description

[0018] Figure 1 This is an isometric view of the passive compliant device at the end of a six-degree-of-freedom robotic arm based on permanent magnet arrangement, according to an embodiment of the present invention.

[0019] Figure 2 This is a front view of the passive compliant device at the end of a six-degree-of-freedom robotic arm based on permanent magnet arrangement, according to an embodiment of the present invention.

[0020] Figure 3 It is at Figure 2 A cross-sectional view along direction AA in the structure shown;

[0021] Figure 4 It is at Figure 2 A cross-sectional view along the BB direction in the structure shown;

[0022] Figure 5 It is at Figure 2 The cross-sectional view along the CC direction of the structure shown.

[0023] Figure label:

[0024] Housing 1; First housing 1a; Second housing 1b; Mounting end plate 101; End cover plate 102; First end face flange 103; Second end face flange 104; Third end face flange 105; Protruding ring 106; Movable shaft 2; First axial permanent magnet assembly 3; First axial planar insert 301; First circular permanent magnet 302; First back iron 303; Second axial permanent magnet assembly 4; Second axial planar insert 401; Second circular permanent magnet 402; Second back iron 403; Radial permanent magnet assembly 5; First radial permanent magnet assembly 5a; Second radial permanent magnet assembly 5b; Third radial permanent magnet assembly 5c; Inner ring magnetic pole group 51; First radial annular insert 511; First square permanent magnet 512; Outer ring magnetic pole group 52; Second radial annular insert 521; Second square permanent magnet 522; First movable space 6; Second movable space 7; First positioning sleeve 8; Second positioning sleeve 9. Detailed Implementation

[0025] The specific embodiments of the present invention will be described in further detail below with reference to the accompanying drawings and examples. The following examples are for illustrative purposes only and are not intended to limit the scope of the invention.

[0026] In the description of this invention, it should be understood that the orientation descriptions, such as up, down, front, back, left, right, etc., are based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limiting this invention.

[0027] In the description of this invention, "several" means one or more, "more than" means two or more, "greater than," "less than," and "exceeding" are understood to exclude the stated number, while "above," "below," and "within" are understood to include the stated number. The use of "first" and "second" in the description is merely for distinguishing technical features and should not be construed as indicating or implying relative importance, or implicitly indicating the number of indicated technical features, or implicitly indicating the order of the indicated technical features.

[0028] In the description of this invention, unless otherwise explicitly defined, terms such as "set up," "install," and "connect" should be interpreted broadly, and those skilled in the art can reasonably determine the specific meaning of the above terms in this invention in conjunction with the specific content of the technical solution.

[0029] like Figures 1 to 5As shown in the embodiment of the present invention, a passive compliant end effector for a six-degree-of-freedom robotic arm based on permanent magnet arrangement includes a housing 1, a movable shaft 2, a first axial permanent magnet assembly 3, a second axial permanent magnet assembly 4, and multiple sets of radial permanent magnet assemblies 5. One end of the housing 1 is provided with a mounting end plate 101, and the other end of the housing 1 is provided with an end cover plate 102. The first axial permanent magnet assembly 3, the second axial permanent magnet assembly 4, and the multiple sets of radial permanent magnet assemblies 5 are arranged sequentially along the axial direction within the housing 1. The first axial permanent magnet assembly 3 is fixed to the mounting end plate 101, and the second axial permanent magnet assembly 4 is arranged at a relative interval from the first axial permanent magnet assembly 3. The movable shaft 2 passes through the end cover plate 102 and is movably inserted into the interior of the housing 1 and connected to the second axial permanent magnet assembly 4. A first movable space 6 is reserved between the outer periphery of the second axial permanent magnet assembly 4 and the inner wall of the housing 1; an axial repulsive force is generated between the first axial permanent magnet assembly 3 and the second axial permanent magnet assembly 4; each set of radial permanent magnet assemblies 5 is provided with an inner ring magnetic pole group 51 and an outer ring magnetic pole group 52, the outer ring magnetic pole group 52 is fixed in the housing 1 and surrounds the outer periphery of the inner ring magnetic pole group 51; the inner ring magnetic pole group 51 is sleeved on the movable shaft 2, and a second movable space 7 is reserved between the outer periphery of the inner ring magnetic pole group 51 and the inner periphery of the outer ring magnetic pole group 52; a radial repulsive force or a radial attractive force is generated between the inner ring magnetic pole group 51 and the outer ring magnetic pole group 52; among the multiple sets of radial permanent magnet assemblies 5, the radial permanent magnet assemblies 5 that generate radial repulsion force and the radial permanent magnet assemblies 5 that generate radial attractive force are arranged alternately.

[0030] Therefore, the passive compliant device at the end of a six-degree-of-freedom robotic arm based on permanent magnet arrangement, as implemented in this embodiment of the invention, achieves impedance along the z-direction through the axially spaced first axial permanent magnet assembly 3 and the second axial permanent magnet assembly 4; achieves impedance along the x / y direction and around the x / y direction through the radial permanent magnet assembly 5 that generates radial repulsion; and achieves impedance around the z-direction through the radial permanent magnet assembly 5 that generates radial attraction. Simultaneously, the passive compliant device of this invention can adjust the distance between the first axial permanent magnet assembly 3 and the second axial permanent magnet assembly 4, as well as... The impedance along the z-direction is changed by adjusting the number of permanent magnets in the axial permanent magnet assembly (the greater the impedance, the less flexible); the impedance along the x / y direction and around the x / y direction is changed by adjusting the thickness, number of permanent magnets in the radial permanent magnet assembly 5 that generates radial repulsion, as well as the outer diameter of the inner magnetic pole group 51 or the inner diameter of the outer magnetic pole group 52; the impedance around the z-direction is changed by adjusting the thickness, number of permanent magnets in the radial permanent magnet assembly 5 that generates radial attraction.

[0031] For example, such as Figure 3 As shown, the radial permanent magnet assembly 5 has three groups: a first radial permanent magnet assembly 5a, a second radial permanent magnet assembly 5b, and a third radial permanent magnet assembly 5c. The second radial permanent magnet assembly 5b is disposed between the first radial permanent magnet assembly 5a and the third radial permanent magnet assembly 5c. A radial repulsive force is generated between the inner magnetic pole group 51 of the first radial permanent magnet assembly 5a and the outer magnetic pole group 52 of the first radial permanent magnet assembly 5a; a radial attractive force is generated between the inner magnetic pole group 51 of the second radial permanent magnet assembly 5b and the outer magnetic pole group 52 of the second radial permanent magnet assembly 5b; and a radial repulsive force is generated between the inner magnetic pole group 51 of the third radial permanent magnet assembly 5c and the outer magnetic pole group 52 of the third radial permanent magnet assembly 5c. With the same permanent magnet grade and quantity, the thickness of the permanent magnets in the first radial permanent magnet assembly 5a is equal to the thickness of the permanent magnets in the third radial permanent magnet assembly 5c, and the thickness of the permanent magnets in the second radial permanent magnet assembly 5b is equal to the sum of the thicknesses of the permanent magnets in the first radial permanent magnet assembly 5a and the third radial permanent magnet assembly 5c. This design ensures that the movable shaft 2 is always in a state of force balance under the combined action of repulsive and attractive forces, enabling the radial permanent magnet assembly 5 to provide stable resistance when the movable shaft 2 is subjected to external forces.

[0032] For example, to facilitate adjustment of the number and grade of permanent magnets in the axial permanent magnet assembly, the first axial permanent magnet assembly 3 includes a first axial planar insert 301 connected to the mounting end plate 101 and a plurality of first circular permanent magnets 302 embedded in the first axial planar insert 301, the plurality of first circular permanent magnets 302 being evenly arranged along the circumferential direction of the first axial planar insert 301; the second axial permanent magnet assembly 4 includes a second axial planar insert 401 connected to the movable shaft 2 and a plurality of second circular permanent magnets 402 embedded in the second axial planar insert 401, the plurality of second circular permanent magnets 402 being evenly arranged along the circumferential direction of the second axial planar insert 401; the number of first circular permanent magnets 302 is the same as the number of second circular permanent magnets 402; the magnetic poles of the first circular permanent magnets 302 and the second circular permanent magnets 402 are the same. It should be noted that the number of mounting slots on the first axial planar panel 301 and the second axial planar panel 401 can be greater than or equal to the actual number of the first circular permanent magnet 302 and the second circular permanent magnet 402 installed.

[0033] For example, in order to prevent magnetic leakage of the axial permanent magnet assembly, the first axial planar panel 301 is provided with a first back iron 303 on the surface near the mounting end plate 101; the second axial planar panel 401 is provided with a second back iron 403 on the surface near the movable shaft 2.

[0034] For example, to facilitate adjustment of the number and grade of permanent magnets in the radial permanent magnet assembly 5, the inner ring magnetic pole group 51 includes a first radial annular insert 511 sleeved with the movable shaft 2 and a plurality of first square permanent magnets 512 embedded in the first radial annular insert 511, the plurality of first square permanent magnets 512 being evenly arranged along the circumferential direction of the first radial annular insert 511; the outer ring magnetic pole group 52 includes a second radial annular insert 521 connected to the housing 1 and a plurality of permanent magnets embedded in the second radial annular insert 521. The second square permanent magnet 522 is uniformly arranged along the circumference of the second radial annular plate 521. The number of the first square permanent magnet 512 is the same as the number of the second square permanent magnet 522. In the radial permanent magnet assembly 5 that generates radial repulsion, the magnetic poles of the first square permanent magnet 512 and the second square permanent magnet 522 are the same. In the radial permanent magnet assembly 5 that generates radial attraction, the magnetic poles of the first square permanent magnet 512 and the second square permanent magnet 522 are opposite. It should be noted that the number of mounting slots on the first radial annular plate 511 and the second radial annular plate 521 can be greater than or equal to the actual number of the first square permanent magnet 512 and the second square permanent magnet 522 installed.

[0035] For example, to facilitate the disassembly and replacement of the axial permanent magnet assembly and the radial permanent magnet assembly 5, the housing 1 is composed of a first housing 1a and a second housing 1b. One end of the first housing 1a is detachably connected to one end of the second housing 1b, and the other end of the first housing 1a is integrally formed with the mounting end plate 101. The other end of the second housing 1b is detachably connected to the end cover plate 102. In a specific implementation, the first housing 1a is provided with a first end face flange 103, and the second housing 1b is provided with a second end face flange 104 adapted to the first end face flange 103. The first end face flange 103 and the second end face flange 104 are connected and fixed by a bolt and nut pair. The second housing 1b is provided with a third end face flange 105, and the third end face flange 105 is connected and fixed to the end cover plate 102 by a bolt and nut pair. Further, the end of the second housing 1b facing the first housing 1a is provided with a protruding ring 106, which extends into and engages with the port of the first housing 1a to facilitate the positioning and installation of the first housing 1a and the second housing 1b. Furthermore, when the end cover plate 102 is placed on the second housing 1b, the end cover plate 102 can press multiple sets of radial permanent magnet assemblies 5 against the convex ring 106, thereby achieving rapid fixed installation of multiple sets of radial permanent magnet assemblies 5.

[0036] For example, a first positioning sleeve 8 is fitted onto the movable shaft 2. One end of the first positioning sleeve 8 abuts against the second axial permanent magnet assembly 4, and the other end of the first positioning sleeve 8 abuts against the inner ring magnetic pole group 51 near the side of the first housing 1a. A second positioning sleeve 9 is fitted onto the movable shaft 2. One end of the second positioning sleeve 9 abuts against the inner ring magnetic pole group 51 away from the side of the first housing 1a, and the other end of the second positioning sleeve 9 abuts against the shoulder of the movable shaft 2. This design allows the distance between the first axial permanent magnet assembly 3 and the second axial permanent magnet assembly 4 to be changed by adjusting the dimensions of the first positioning sleeve 8 and the second positioning sleeve 9.

[0037] In summary, the passive compliant device of this invention can not only achieve compliant contact between the end of the robotic arm and the outside world in six degrees of automation, but also independently change the flexibility of each degree of freedom by designing and adjusting the grade, quantity, spacing, and size of the permanent magnets. It has the advantages of compact structure, convenient disassembly and replacement, flexible impedance adjustment, and wide applicability.

[0038] In this specification, the terms "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of the invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0039] Although embodiments of the invention have been shown and described, those skilled in the art will understand that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.

Claims

1. A passive compliant end effector for a six-degree-of-freedom robotic arm based on permanent magnet arrangement, comprising a housing, a movable shaft, a first axial permanent magnet assembly, a second axial permanent magnet assembly, and multiple sets of radial permanent magnet assemblies; one end of the housing is provided with a mounting end plate, and the other end of the housing is provided with an end cover plate; the first axial permanent magnet assembly, the second axial permanent magnet assembly, and the multiple sets of radial permanent magnet assemblies are arranged sequentially along the axial direction within the housing; The first axial permanent magnet assembly is fixed to the mounting end plate, and the second axial permanent magnet assembly is arranged at a relative interval with the first axial permanent magnet assembly; the movable shaft passes through the end cover plate and is movably inserted into the interior of the housing and connected to the second axial permanent magnet assembly; a first movable space is reserved between the outer periphery of the second axial permanent magnet assembly and the inner wall of the housing; an axial repulsive force is generated between the first axial permanent magnet assembly and the second axial permanent magnet assembly; Each of the radial permanent magnet assemblies is provided with an inner magnetic pole group and an outer magnetic pole group. The outer magnetic pole group is fixed inside the housing and surrounds the outer periphery of the inner magnetic pole group. The inner magnetic pole group is sleeved on the movable shaft, and a second movable space is reserved between the outer periphery of the inner magnetic pole group and the inner periphery of the outer magnetic pole group. Radial repulsion or radial attraction is generated between the inner magnetic pole group and the outer magnetic pole group. In the multiple sets of radial permanent magnet assemblies, the radial permanent magnet assemblies that generate radial repulsion and the radial permanent magnet assemblies that generate radial attraction are arranged alternately. The inner ring magnetic pole assembly includes a first radial annular plate sleeved with the movable shaft and a plurality of first square permanent magnets embedded in the first radial annular plate, the plurality of first square permanent magnets being evenly arranged along the circumferential direction of the first radial annular plate; the outer ring magnetic pole assembly includes a second radial annular plate connected to the housing and a plurality of second square permanent magnets embedded in the second radial annular plate, the plurality of second square permanent magnets being evenly arranged along the circumferential direction of the second radial annular plate; the number of first square permanent magnets is the same as the number of second square permanent magnets; in the radial permanent magnet assembly that generates radial repulsion, the opposing magnetic poles of the first square permanent magnets and the second square permanent magnets are the same; in the radial permanent magnet assembly that generates radial attraction, the opposing magnetic poles of the first square permanent magnets and the second square permanent magnets are opposite; A first positioning sleeve is fitted onto the movable shaft. One end of the first positioning sleeve abuts against the second axial permanent magnet assembly, and the other end of the first positioning sleeve abuts against the inner ring magnetic pole group near the first housing. A second positioning sleeve is fitted onto the movable shaft. One end of the second positioning sleeve abuts against the inner ring magnetic pole group away from the first housing, and the other end of the second positioning sleeve abuts against the shoulder of the movable shaft.

2. The passive compliant device at the end of a six-degree-of-freedom robotic arm based on permanent magnet arrangement according to claim 1, characterized in that, The radial permanent magnet assembly comprises three groups: a first radial permanent magnet assembly, a second radial permanent magnet assembly, and a third radial permanent magnet assembly. The second radial permanent magnet assembly is disposed between the first and third radial permanent magnet assemblies. A radial repulsive force is generated between the inner magnetic pole group and the outer magnetic pole group of the first radial permanent magnet assembly; a radial attractive force is generated between the inner magnetic pole group and the outer magnetic pole group of the second radial permanent magnet assembly; and a radial repulsive force is generated between the inner magnetic pole group and the outer magnetic pole group of the third radial permanent magnet assembly.

3. The passive compliant device at the end of a six-degree-of-freedom robotic arm based on permanent magnet arrangement according to claim 1, characterized in that, The first axial permanent magnet assembly includes a first axial planar insert connected to the mounting end plate and a plurality of first circular permanent magnets embedded in the first axial planar insert, the plurality of first circular permanent magnets being evenly arranged along the circumferential direction of the first axial planar insert; the second axial permanent magnet assembly includes a second axial planar insert connected to the movable shaft and a plurality of second circular permanent magnets embedded in the second axial planar insert, the plurality of second circular permanent magnets being evenly arranged along the circumferential direction of the second axial planar insert; the number of first circular permanent magnets is the same as the number of second circular permanent magnets; the magnetic poles of the first circular permanent magnets and the second circular permanent magnets are the same.

4. The passive compliant device at the end of a six-degree-of-freedom robotic arm based on permanent magnet arrangement according to claim 3, characterized in that, The first axial planar panel has a first back iron on the surface near the mounting end plate; the second axial planar panel has a second back iron on the surface near the movable shaft.

5. The passive compliant device at the end of a six-degree-of-freedom robotic arm based on permanent magnet arrangement according to claim 1, characterized in that, The housing is composed of a first housing and a second housing. One end of the first housing is detachably connected to one end of the second housing. The other end of the first housing is integrally formed with the mounting end plate. The other end of the second housing is detachably connected to the end cover plate.

6. The passive compliant device at the end of a six-degree-of-freedom robotic arm based on permanent magnet arrangement according to claim 5, characterized in that, The first housing is provided with a first end face flange, and the second housing is provided with a second end face flange adapted to the first end face flange. The first end face flange and the second end face flange are connected and fixed by bolt and nut pair. The second housing is provided with a third end face flange, and the third end face flange is connected and fixed to the end cover plate by bolt and nut pair.

7. The passive compliant device at the end of a six-degree-of-freedom robotic arm based on permanent magnet arrangement according to claim 5, characterized in that, The second housing has a protruding ring at its end facing the first housing, the protruding ring extending into and engaging with the port of the first housing.

8. The passive compliant device at the end of a six-degree-of-freedom robotic arm based on permanent magnet arrangement according to claim 7, characterized in that, When the end cover is closed on the second housing, the end cover presses multiple sets of radial permanent magnet assemblies against the convex ring.

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