Damping-controllable high-torque space manipulator joint

Abstract

The invention relates to a large-torque space manipulator joint with controllable damping. Comprising an electromagnetic brake, a permanent magnet synchronous motor, a reluctance type multi-antipode rotary transformer, a planetary gear reducer, a harmonic reducer, a two-channel rotary transformer, a magnetic powder damper, a first hollow output shaft, a first joint shell, a second joint shell, a motor shaft and a second hollow output shaft. According to the joint, the output torque is increased while the control precision is guaranteed through a two-stage speed reduction mode of the planetary speed reducer and the harmonic speed reducer, a damping controllable device is additionally arranged at the output end of the joint, a damping link is added in control, and the vibration problem generated when a large space mechanical arm carries a large-inertia load to conduct transposition control is solved.

Description

Technical Field

[0001] This invention belongs to the field of space robotic arms, and particularly relates to a high-torque space robotic arm joint with controllable damping and its control technology. Background Technology

[0002] As a key technology for on-orbit servicing and support, space robotic arms are receiving increasing attention from various countries. The United States, Canada, the Netherlands, Germany, Japan, and others have successively conducted research on space robotic arm systems and applied them in practical engineering projects. Space robotic arms possess the ability to operate in the microgravity, large temperature differences, and strong radiation environments of space, and can be applied to tasks such as space station construction, maintenance, and servicing, as well as the maintenance and repair of space equipment, thus possessing significant scientific and engineering importance.

[0003] Modular joints, as crucial components and actuators of space robotic arms, directly determine the arm's performance and operational capabilities. Space robotic arm joints primarily consist of servo motors, speed sensors, electromagnetic brakes, reduction gear transmissions, position detection sensors, and torque sensors. The reduction gear transmissions mainly employ gear drives, planetary gear reducers, and harmonic reducers. Harmonic reducers and planetary gear reducers both have inherent backlash and flexibility. When applied to large space robotic arms carrying large inertial loads, they can cause flexible vibrations, which, in severe cases, may lead to resonance with the flight platform, resulting in loss of control of the spacecraft.

[0004] In related literature in this technical field, patent CN105128029B, "A Modular High-Torque Spatial Robotic Arm Joint," describes a reduction mechanism that includes a gear reducer and a harmonic reducer. The harmonic reducer includes a steel wheel, a wave generator, and a flexible wheel. The gear reducer has an input shaft that can drive the wave generator to rotate. The flexible wheel is fixedly connected to the moving block through an output shaft. A torque sensor is configured on the joint's output shaft to provide feedback on the joint's output torque. However, due to the backlash between the harmonic reducers and the flexibility of the torque sensor, the joint vibrates when carrying a large inertia load for point-to-point control. Patent CN108858276B, "Modular Joint," describes a modular joint that reduces joint rigidity by setting a metal composite elastic component, giving the modular joint inherent flexibility and increasing its safety. However, due to the presence of the metal composite elastic component, the joint's structural rigidity decreases, leading to flexible vibration during load-bearing motion. This makes it unsuitable for carrying large mass loads for high-precision, high-speed motion.

[0005] In summary, current joint products are insufficient to meet the high-precision rotation requirements of large-scale space robotic arms carrying large inertial loads. Summary of the Invention

[0006] The purpose of this invention is to overcome the above-mentioned shortcomings of the prior art and provide a small-sized, lightweight, damped, controllable high-torque space robotic arm joint. By using a two-stage reduction method of planetary reducer and harmonic reducer, the output torque is increased while ensuring control accuracy. Furthermore, by adding a damping controllable device at the joint output end, a damping element is added to the control, thus solving the vibration problem when a large space robotic arm carries a large inertia load for indexing control.

[0007] The above-mentioned objectives of the present invention are mainly achieved through the following technical solutions:

[0008] A high-torque space robotic arm joint with controllable damping includes an electromagnetic brake, a permanent magnet synchronous motor, a reluctance multi-pole rotary transformer, a planetary gear reducer, a harmonic reducer, a dual-channel rotary transformer, a magnetic powder damper, a first hollow output shaft, a first joint housing, a second joint housing, a motor shaft, and a second hollow output shaft. The electromagnetic brake is located at the front end of the joint; its output is connected to the permanent magnet synchronous motor, which is mounted on the second joint housing and the motor shaft via an interference fit between its stator and rotor; the reluctance multi-pole rotary transformer is embedded inside the permanent magnet synchronous motor; the output of the permanent magnet synchronous motor is sequentially connected to the planetary gear reducer and the harmonic reducer, which are connected in series via the first and second hollow output shafts; the input of the dual-channel rotary transformer is fixedly connected to the output of the harmonic reducer, and its output is fixedly connected to the first joint housing; the magnetic powder damper is fixedly connected to the output of the harmonic reducer via screws.

[0009] The aforementioned high-torque space robotic arm joint with controllable damping also includes a first angular contact bearing, a second angular contact bearing, a first deep groove ball bearing, a second deep groove ball bearing, and a third deep groove ball bearing. The third deep groove ball bearing is installed on both sides of the permanent magnet synchronous motor shaft to prevent axial movement of the motor. The first deep groove ball bearing is installed at the connection position between the planetary gear reducer and the motor shaft. The second deep groove ball bearing is installed at the connection position between the planetary gear reducer and the harmonic reducer. The first joint housing and the second joint housing are connected by the first angular contact bearing and the second angular contact bearing to realize the load-bearing of the output shaft.

[0010] In the aforementioned high-torque space robotic arm joint with controllable damping, the planetary gear reducer includes a sun gear, planetary gears, and a planet carrier. The sun gear is located on the motor shaft and is fixedly connected to the motor shaft by screws. The planetary gears are located outside the sun gears. The planet carriers are located outside the planetary gears. The sun gear, planetary gears, and planet carriers reduce speed through differential gear reduction, thereby amplifying the output torque of the permanent magnet synchronous motor.

[0011] In the aforementioned damping-controllable high-torque space robotic arm joint, the harmonic reducer includes a wave generator, a flexible wheel, and a steel wheel. The wave generator is fixedly connected to the planetary carrier by screws. The flexible wheel is located outside the wave generator. The steel wheel is located outside the flexible wheel and is fixedly connected to the first joint housing. The wave generator carries the relative rotation between the flexible wheel and the steel wheel, which is ultimately converted into joint power output.

[0012] Furthermore, electromagnetic brakes are used to achieve braking function for the entire joint.

[0013] Furthermore, the permanent magnet synchronous motor is the motion input part of the joint. The permanent magnet synchronous motor drives the input end of the planetary gear reducer to rotate. The output end of the planetary gear reducer is fixedly connected to the input end of the harmonic reducer after a first-stage reduction. The output end of the harmonic reducer is then reduced by a second stage to increase the output torque of the joint.

[0014] Furthermore, reluctance multi-pole rotary transformers are used to measure the motion position information of permanent magnet synchronous motors, enabling motor commutation and speed measurement.

[0015] Furthermore, the permanent magnet synchronous motor, planetary gear reducer, and harmonic reducer all adopt a hollow design and are connected in series through a hollow output shaft, so that the joint's own cable can be directly routed through the hollow area.

[0016] Furthermore, the output torque T at the output end of the harmonic reducer o The calculation formula is as follows:

[0017] T o =T e ·N1 2 ·N2 2

[0018] Where N1 is the reduction ratio of the planetary gear reducer, N2 is the reduction ratio of the harmonic reducer, and T... e This is the effective output torque of the permanent magnet synchronous motor.

[0019] Furthermore, N1 is typically 3 to 10, and N2 is typically 100 to 300.

[0020] In the aforementioned high-torque space robotic arm joint with controllable damping, the joint is a structural model composed of a rigid link and a flexible transmission shaft, and its transfer function model is as follows:

[0021]

[0022] Where, θ o (s) represents the position output of the motor system, θ i(s) is the position input of the motor system, J is the moment of inertia, s is the Laplace operator, f is the viscous damping coefficient, and k is a set constant.

[0023] Perform a Laplace transform to obtain the system's undamped natural oscillation frequency ω of the joint. n The formula for calculating damping ξ is as follows:

[0024]

[0025] Based on the above formula, the joint dynamics characteristics are analyzed. When the joint load inertia J increases, the damping ξ of the control system will decrease, and the undamped natural oscillation frequency ω will decrease. n The fundamental frequency of a space robotic arm structure is generally low. Without damping, the natural oscillation frequency will decrease, which can easily lead to system overshoot or even instability. Therefore, the key to increasing system stability is to increase system damping ξ, which can be achieved by adding compensating damping elements to the system and control structure.

[0026] In the aforementioned high-torque space robotic arm joint with controllable damping, controllable damping is achieved through two methods: structural damping and software damping.

[0027] Furthermore, the structural damping element is connected to the magnetic powder damper through the output end of the harmonic reducer. When the joint output end rotates relative to each other, the motion will be damped by the magnetic powder damper, which restricts all relative rotations of the joint output end and has a significant suppressive effect on joint vibration caused by the flexibility of the harmonic reducer.

[0028] Furthermore, the software damping element is implemented in the joint motion control closed loop, which includes a position and velocity dual closed loop. The velocity feedback information collected in the motion control closed loop is multiplied by the velocity damping coefficient to obtain the velocity damping component. When the velocity damping component is added to the input of the position loop as a compensation element for the position loop input, the control system can achieve the control effect of the velocity damping element, and the magnitude of the software damping can be controlled by adjusting the velocity damping coefficient.

[0029] Furthermore, the joint position closed-loop control method is as follows: when performing joint position closed-loop control, the motion speed collected by the joint magnetoresistive multi-pole rotary transformer is multiplied by the velocity damping coefficient and added as velocity damping to the position closed loop to achieve the damping control effect.

[0030] Furthermore, the velocity damping coefficient is typically taken as 0.1 to 0.5.

[0031] Compared with the prior art, the present invention has the following advantages:

[0032] (1) The present invention adopts a two-stage reduction method of planetary gear reducer and harmonic reducer. Compared with the common single reducer joint, it can meet the requirements of high torque output of space robot arm while ensuring the transmission accuracy of the joint.

[0033] (2) The present invention adopts a hollow planetary gear reducer scheme, which can realize the hollow wiring of the joint and meet the requirements of the wiring inside the robotic arm.

[0034] (3) The present invention uses structural damping and software damping links, namely, adding a magnetic powder damper at the output end of the modular joint and adding a damping link in the joint motion control closed loop, to effectively overcome the vibration problem caused by the flexible link of the harmonic reducer and improve the control accuracy of the robotic arm. Attached Figure Description

[0035] Figure 1 This is a schematic diagram of a high-torque space robotic arm joint with controllable damping according to the present invention.

[0036] Figure 2 This is a structural diagram of the joint component of a high-torque space robotic arm with controllable damping according to the present invention.

[0037] Figure 3 This is a schematic diagram of the main motion links of a high-torque space robotic arm with controllable damping according to the present invention.

[0038] Figure 4 This is a structural diagram of the planetary gear reducer of the present invention.

[0039] Figure 5 This is a structural diagram of the harmonic reducer of the present invention.

[0040] Figure 6 This is a diagram of the joint dynamics model of a high-torque space robotic arm with controllable damping according to the present invention.

[0041] Figure 7 This is a schematic diagram of a closed-loop control method for the joint position of a high-torque space robotic arm with controllable damping according to the present invention. Detailed Implementation

[0042] The present invention will now be described in further detail with reference to the accompanying drawings and specific embodiments.

[0043] This invention provides a high-torque space robotic arm joint with controllable damping. By using a two-stage reduction method of planetary reducer and harmonic reducer, the output torque is increased while ensuring control accuracy. Furthermore, by adding a controllable damping device at the joint output end, a damping element is incorporated into the control process, thus solving the vibration problem when a large space robotic arm carries a large inertia load for indexing control.

[0044] like Figure 1The figure shown is a schematic diagram of a high-torque space robotic arm joint with controllable damping according to the present invention. Figure 2 The diagram shows the component structure of the present invention. As can be seen from the diagram, the present invention includes an electromagnetic brake 1, a permanent magnet synchronous motor 2, a reluctance multi-pole rotary transformer 3, a planetary gear reducer 4, a harmonic reducer 5, a dual-channel rotary transformer 6, a magnetic powder damper 7, a first hollow output shaft 8, a first joint housing 14, a second joint housing 15, a motor shaft 16, and a second hollow output shaft 17.

[0045] like Figure 2 The diagram shows a structural composition of a high-torque space robotic arm joint with controllable damping according to the present invention. As shown in the diagram, the present invention also includes a first angular contact bearing 9, a second angular contact bearing 10, a first deep groove ball bearing 11, a second deep groove ball bearing 12, and a third deep groove ball bearing 13. The third deep groove ball bearing 13 is installed on both sides of the shaft of the permanent magnet synchronous motor 2 to prevent axial movement of the motor. The first deep groove ball bearing 11 is installed at the connection position between the planetary gear reducer 4 and the motor shaft 16. The second deep groove ball bearing 12 is installed at the connection position between the planetary gear reducer 4 and the harmonic reducer 5. The first joint housing 14 and the second joint housing 15 are connected by the first angular contact bearing 9 and the second angular contact bearing 10 to realize the load-bearing of the output shaft.

[0046] like Figure 3 The diagram shows the main motion components of a high-torque space robotic arm joint with controllable damping according to the present invention. As shown in the diagram, the electromagnetic brake 1 is located at the front end of the joint; the output end of the electromagnetic brake 1 is connected to the permanent magnet synchronous motor 2, which is mounted on the second joint housing 15 and the motor shaft 16 through an interference fit between the stator and rotor; the reluctance multi-pole rotary transformer 3 is embedded inside the permanent magnet synchronous motor 2; the output end of the permanent magnet synchronous motor 2 is sequentially connected to the planetary gear reducer 4 and the harmonic reducer 5, which are connected in series through the first hollow output shaft 8 and the second hollow output shaft 17; the input end of the dual-channel rotary transformer 6 is fixedly connected to the output end of the harmonic reducer 5, and the output end of the dual-channel rotary transformer 6 is fixedly connected to the first joint housing 14; the magnetic powder damper 7 is fixedly connected to the output end of the harmonic reducer 5 by screws.

[0047] like Figure 4The diagram shows the main structure of the planetary gear reducer of the present invention. As shown in the diagram, the planetary gear reducer 4 includes a sun gear 401, a planetary gear 402, and a planet carrier 403. The sun gear 401 is located on the motor shaft 16 and is fixedly connected to the motor shaft 16 by screws. The planetary gear 402 is located outside the sun gear 401. The planet carrier 403 is located outside the planetary gear 402. The sun gear 401, planetary gear 402, and planet carrier 403 reduce speed through differential gearing, thereby amplifying the output torque of the permanent magnet synchronous motor 2.

[0048] like Figure 5 The diagram shows the main structure of the harmonic reducer of the present invention. As shown in the diagram, the harmonic reducer 5 includes a wave generator 501, a flexible wheel 502, and a steel wheel 503. The wave generator 501 is fixedly connected to the planetary carrier 403 by screws. The flexible wheel 502 is located outside the wave generator 501. The steel wheel 503 is located outside the flexible wheel 502 and is fixedly connected to the first joint housing 14. The wave generator 501 carries the flexible wheel 502 and the steel wheel 503 to rotate relative to each other, which is ultimately converted into joint power output.

[0049] Furthermore, the electromagnetic brake 1 is used to achieve the braking function of the entire joint.

[0050] Furthermore, the permanent magnet synchronous motor 2 is the motion input part of the joint. The permanent magnet synchronous motor 2 drives the input end of the planetary gear reducer 4 to rotate. The output end of the planetary gear reducer 4 is fixedly connected to the input end of the harmonic reducer 5 after a first-stage reduction. The output end of the harmonic reducer 5 is reduced by a second stage to increase the output torque of the joint.

[0051] Furthermore, the reluctance multi-pole rotary transformer 3 is used to measure the motion position information of the permanent magnet synchronous motor 2, thereby realizing motor commutation and speed measurement.

[0052] Furthermore, the permanent magnet synchronous motor 2, planetary gear reducer 4, and harmonic reducer 5 all adopt a hollow design and are connected in series through a hollow output shaft, so that the joint's own cable can be directly routed through the hollow area.

[0053] Furthermore, the output torque T at the output end of the harmonic reducer 5 o The calculation formula is as follows:

[0054] T o =T e ·N1 2 ·N2 2

[0055] Where N1 is the reduction ratio of planetary gear reducer 4, N2 is the reduction ratio of harmonic reducer 5, and T e This is the effective output torque of the permanent magnet synchronous motor 2.

[0056] Furthermore, N1 is typically 3 to 10, and N2 is typically 100 to 300.

[0057] like Figure 6 The figure shows a dynamic model of a high-torque space manipulator joint with controllable damping according to the present invention. As can be seen from the figure, the joint of the high-torque space manipulator with controllable damping is a structural model composed of a rigid connecting rod and a flexible transmission shaft, and its transfer function model is as follows:

[0058]

[0059] Where, θ o (s) represents the position output of the motor system, θ i (s) is the position input of the motor system, J is the moment of inertia, s is the Laplace operator, f is the viscous damping coefficient, and k is a set constant.

[0060] Perform a Laplace transform to obtain the system's undamped natural oscillation frequency ω of the joint. n The formula for calculating damping ξ is as follows:

[0061]

[0062] Based on the above formula, the joint dynamics characteristics are analyzed. When the joint load inertia J increases, the damping ξ of the control system will decrease, and the undamped natural oscillation frequency ω will decrease. n The fundamental frequency of a space robotic arm structure is generally low. Without damping, the natural oscillation frequency will decrease, which can easily lead to system overshoot or even instability. Therefore, the key to increasing system stability is to increase system damping ξ, which can be achieved by adding compensating damping elements to the system and control structure.

[0063] The aforementioned high-torque space robotic arm joint with controllable damping achieves controllable damping through two methods: structural damping and software damping.

[0064] Furthermore, the structural damping element is connected to the magnetic powder damper 7 through the output end of the harmonic reducer 5. When the joint output end rotates relative to each other, the motion will be damped by the magnetic powder damper 7, which restricts all relative rotations of the joint output end and has a significant suppressive effect on joint vibration caused by the flexibility of the harmonic reducer 5.

[0065] Furthermore, the software damping element is implemented in the joint motion control closed loop, which includes a position and velocity dual closed loop. The velocity feedback information collected in the motion control closed loop is multiplied by the velocity damping coefficient to obtain the velocity damping component. When the velocity damping component is added to the input of the position loop as a compensation element for the position loop input, the control system can achieve the control effect of the velocity damping element, and the magnitude of the software damping can be controlled by adjusting the velocity damping coefficient.

[0066] like Figure 7 The figure shows a schematic diagram of a damping-controllable high-torque space robotic arm joint position closed-loop control method according to the present invention. As can be seen from the figure, the joint position closed-loop control method is as follows: when performing joint position closed-loop control, the motion speed collected by the joint magnetoresistive multi-pole rotary transformer 3 is multiplied by the speed damping coefficient and added as speed damping to the position closed loop to achieve the damping control effect.

[0067] Furthermore, the velocity damping coefficient is typically taken as 0.1 to 0.5.

[0068] The above embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit it. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A high-torque space robotic arm joint with controllable damping, characterized in that, Including an electromagnetic brake (1), a permanent magnet synchronous motor (2), a reluctance multi-pole rotary transformer (3), a planetary gear reducer (4), a harmonic reducer (5), a dual-channel rotary transformer (6), a magnetic powder damper (7), a first hollow output shaft (8), a first joint housing (14), a second joint housing (15), a motor shaft (16), and a second hollow output shaft (17); The electromagnetic brake (1) is located at the front end of the joint and is used to achieve the braking function of the entire joint. The output end of the electromagnetic brake (1) is connected to the permanent magnet synchronous motor (2), which is the motion input part of the joint. The permanent magnet synchronous motor (2) is installed on the second joint housing (15) and the motor shaft (16) through the interference fit between the stator and the rotor. The permanent magnet synchronous motor (2), the planetary gear reducer (4), and the harmonic reducer (5) are connected in series through the first hollow output shaft (8) and the second hollow output shaft (17). The permanent magnet synchronous motor (2) drives the input end of the planetary gear reducer (4) to rotate, and the output end of the planetary gear reducer (4) rotates. The input end of the joint is fixedly connected to the input end of the harmonic reducer (5) after a first-stage reduction, and the output end of the harmonic reducer (5) is fixedly connected to the output end of the joint after a second-stage reduction, thereby increasing the joint output torque; the reluctance multi-pole rotary transformer (3) is embedded inside the permanent magnet synchronous motor (2); the input end of the dual-channel rotary transformer (6) is fixedly connected to the output end of the harmonic reducer (5), and the output end of the dual-channel rotary transformer (6) is fixedly connected to the first joint housing (14); the reluctance multi-pole rotary transformer (3) is used to measure the motion position information of the permanent magnet synchronous motor (2) to realize motor commutation and speed measurement; the magnetic powder damper (7) is fixedly connected to the output end of the harmonic reducer (5) by screws.

2. The damping-controllable high-torque space robotic arm joint according to claim 1, characterized in that, It also includes a first angular contact bearing (9), a second angular contact bearing (10), a first deep groove ball bearing (11), a second deep groove ball bearing (12), and a third deep groove ball bearing (13). The third deep groove ball bearing (13) is installed on both sides of the shaft of the permanent magnet synchronous motor (2) to prevent axial movement of the motor. The first deep groove ball bearing (11) is installed at the connection position between the planetary gear reducer (4) and the motor shaft (16). The second deep groove ball bearing (12) is installed at the connection position between the planetary gear reducer (4) and the harmonic reducer (5). The first joint housing (14) and the second joint housing (15) are connected by the first angular contact bearing (9) and the second angular contact bearing (10) to realize the load-bearing of the output shaft.

3. The damping-controllable high-torque space robotic arm joint according to claim 1, characterized in that, The planetary gear reducer (4) includes a sun gear (401), a planetary gear (402), and a planet carrier (403). The sun gear (401) is located on the motor shaft (16) and is fixedly connected to the motor shaft (16) by screws. The planetary gear (402) is located outside the sun gear (401). The planet carrier (403) is located outside the planetary gear (402). The sun gear (401), the planetary gear (402), and the planet carrier (403) reduce speed through differential gearing, thereby amplifying the output torque of the permanent magnet synchronous motor (2).

4. The damping-controllable high-torque space robotic arm joint according to claim 3, characterized in that, The harmonic reducer (5) includes a wave generator (501), a flexible wheel (502), and a steel wheel (503). The wave generator (501) is fixedly connected to the planetary carrier (403) by screws. The flexible wheel (502) is located outside the wave generator (501). The steel wheel (503) is located outside the flexible wheel (502) and is fixedly connected to the first joint housing (14). The wave generator (501) causes relative rotation between the flexible wheel (502) and the steel wheel (503), which is eventually converted into joint power output.

5. A damped, controllable high-torque spatial robotic arm joint according to claim 1, characterized in that, The permanent magnet synchronous motor (2), planetary gear reducer (4), and harmonic reducer (5) all adopt a hollow design and are connected in series through a hollow output shaft so that the joint's own cable can be directly wired through the hollow area.

6. The damping-controllable high-torque space robotic arm joint according to claim 1, characterized in that, The output torque T at the output end of the harmonic reducer (5) o The calculation formula is as follows: T o =T e ·N1 2 ·N2 2 Where N1 is the reduction ratio of the planetary gear reducer (4), N2 is the reduction ratio of the harmonic reducer (5), and T e The effective output torque of the permanent magnet synchronous motor (2) is given.

7. The damping-controllable high-torque space robotic arm joint according to claim 1, characterized in that, The joint is a structural model consisting of a rigid connecting rod and a flexible transmission shaft, and its transfer function model is as follows: Where, θ o (s) represents the position output of the motor system, θ i (s) is the position input of the motor system, J is the moment of inertia, s is the Laplace operator, f is the viscous damping coefficient, and k is a set constant. Perform a Laplace transform to obtain the system's undamped natural oscillation frequency ω of the joint. n The formula for calculating damping ξ is as follows: Based on the above formula, the joint dynamics characteristics are analyzed. When the joint load inertia J increases, the damping ξ of the control system will decrease, and the undamped natural oscillation frequency ω will decrease. n The fundamental frequency of a space robotic arm structure is generally low. Without damping, the natural oscillation frequency will decrease, which can easily lead to overshoot or even instability of the system. Therefore, the system stability can be increased by increasing the system damping ξ.

8. A damped, controllable high-torque space robotic arm joint according to claim 1, characterized in that, This includes both structural damping and software damping components, achieving controllable damping through two methods: Method 1 is a structural damping element. The output end of the harmonic reducer (5) is connected to the magnetic powder damper (7). When the joint output end rotates relative to each other, the motion will be damped under the action of the magnetic powder damper (7), which restricts all relative rotations of the joint output end and has a significant suppressive effect on joint vibration caused by the flexibility of the harmonic reducer (5). Method two involves a software damping element, implemented within the joint motion control closed loop, which includes a position closed loop and a velocity closed loop. The collected velocity feedback information is multiplied by the velocity damping coefficient to obtain the velocity damping component. This velocity damping component is then added to the input of the position closed loop as a compensation element. In this way, the control system can achieve the control effect of the velocity damping element, and the magnitude of the software damping can be controlled by adjusting the velocity damping coefficient.

9. A damped, controllable high-torque spatial robotic arm joint according to claim 8, characterized in that, The joint position closed-loop control method is as follows: When performing joint position closed-loop control, the motion speed collected by the joint magnetoresistive multi-pole rotary transformer (3) is multiplied by the speed damping coefficient and added as speed damping to the position closed loop to achieve the damping control effect.

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