Magnetorheological Robot Joint for High-Speed Reciprocal Swing
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Solution Overview
Problem
Current joint robots face challenges in achieving high-speed reciprocal swing movements due to the inherent inertia of swinging arms driven by traditional motors, limiting their ability to rapidly change movement states.
Innovation Solution
A joint mechanism utilizing magnetorheological fluid, where electromagnetic components control the phase state of the fluid to establish or break driving connections between driving members and a swinging arm, allowing for rapid directional changes through the interaction of magnetically polarized particles in a non-magnetic liquid, enabling quick rotations in both directions.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Speed
If traditional motors directly drive the swinging arm, then the driving force is sufficient, but the inertia of the swinging arm increases, making it difficult to achieve high-speed reciprocal swing movement
Solution Approach 1:
The patent changes the physical state parameter of the magnetorheological fluid by applying magnetic fields. When the electromagnetic component generates a magnetic field, the MR fluid transitions from a low-viscosity liquid state to a high-viscosity semi-solid state, enabling rapid changes in the swinging arm's movement state without increasing its inertia
Solution Approach 2:
The patent replaces the traditional direct mechanical connection between motor and swinging arm with a magnetorheological fluid coupling system. This substitution allows the driving force to be transmitted through controllable fluid coupling rather than rigid mechanical connection, reducing the effective inertia transmitted to the swinging arm while maintaining sufficient driving force
2Speed
If magnetorheological fluid is used to connect driving members and swinging arm, then rapid changes in movement state are achieved, but the system complexity increases
Solution Approach 1:
The patent introduces magnetorheological fluid as an intermediary substance between the driving members and the swinging arm. This intermediary enables rapid transmission of driving force when needed while allowing smooth decoupling when not needed, achieving fast response without requiring complex mechanical switching mechanisms
Solution Approach 2:
The patent extracts the complexity from the mechanical transmission path by using magnetic field control instead of mechanical linkages. The electromagnetic component generates magnetic fields to control the MR fluid's properties, replacing what would otherwise require complex mechanical clutches or brakes
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
The joint mechanism achieves rapid and reversible changes in movement states, reducing inertia and enabling efficient high-speed reciprocal swing movements by leveraging the instantaneous viscosity change of magnetorheological fluid under magnetic control, thus enhancing the flexibility and speed of robotic arm movements.
Implementation Method 1
the magnetorheological fluid will return to its original phase state after the magnetic field is withdrawn. Since the rheology of the magnetorheological fluid under a magnetic field is instantaneous and reversible
Implementation Method 2
a first electromagnetic component and a second electromagnetic component, which are configured to change phase state of the magnetorheological fluid
Data Source
AI summary
The present invention relates to a joint mechanism (100), a method for controlling the joint mechanism (100), a multi-arm device (200) including the joint mechanism (100), and a robot. The joint mechanism (100) comprises: a base (4) having a pivot shaft (41); a swinging arm (1) having a first end (11) mounted on the pivot shall (41); a first driving member (2) and a second driving member (3) mounted on the pivot shall (41) for interacting with the swinging arm (1) through magnetorheological fluid; and a first electromagnetic component (22) and a second electromagnetic component (32), configured to change phase state of the magnetorheological fluid. The first driving member (2) and the second driving member (3) can selectively drive tire swinging arm (1) to rotate along a first direction or a second direction.