CN106763589A - The flexible mechanical arm joint arrangement of controllable damping and rigidity - Google Patents
The flexible mechanical arm joint arrangement of controllable damping and rigidity Download PDFInfo
- Publication number
- CN106763589A CN106763589A CN201611189852.5A CN201611189852A CN106763589A CN 106763589 A CN106763589 A CN 106763589A CN 201611189852 A CN201611189852 A CN 201611189852A CN 106763589 A CN106763589 A CN 106763589A
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- Prior art keywords
- transmission line
- cylinder
- radial transmission
- output
- input
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Classifications
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H13/00—Gearing for conveying rotary motion with constant gear ratio by friction between rotary members
- F16H13/02—Gearing for conveying rotary motion with constant gear ratio by friction between rotary members without members having orbital motion
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
- B25J17/02—Wrist joints
- B25J17/0208—Compliance devices
- B25J17/0233—Compliance devices with radial compliance, i.e. perpendicular to the longitudinal wrist axis
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
- F16F9/00—Springs, vibration-dampers, shock-absorbers, or similarly-constructed movement-dampers using a fluid or the equivalent as damping medium
- F16F9/32—Details
- F16F9/53—Means for adjusting damping characteristics by varying fluid viscosity, e.g. electromagnetically
- F16F9/535—Magnetorheological [MR] fluid dampers
Abstract
The invention discloses a kind of controllable damping and the flexible mechanical arm joint arrangement of rigidity, including rotation input module, intermediate module and the rotation output precision being connected；Rotating input module includes input shaft and input cylinder；Rotating output precision includes output shaft and output cylinder, and output cylinder is located in input cylinder；Intermediate module include jackshaft and jackshaft connection and can synchronous axial system the first radial transmission line and the second radial transmission line, jackshaft, the first radial transmission line and the second radial transmission line be each provided at export cylinder in；First radial transmission line drives the first radial direction disc spins near input shaft, input cylinder by the first flexible member；Second radial transmission line drives output cylinder to rotate near output shaft, the second radial transmission line by the second flexible member；Cavity I is provided between first radial transmission line and the second radial transmission line, magnet exciting coil I is provided with cavity I, jackshaft is partially submerged in magnetic flow liquid I positioned at cavity I；Present invention damping and stiffness tuning scope are big, and compact conformation can meet the demand of flexible mechanical arm.
Description
Technical field
The present invention relates to a kind of joint arrangement, the flexible mechanical shoulder joint dress of more particularly to a kind of controllable damping and rigidity
Put.
Background technology
As continuing to develop for robot technology, the species of robot are more and more, range of application is more and more extensive, such as takes
Robot, robot for space, industrial robot etc. be engaged in the field such as service trade, space exploration and industrial operations extensive utilization, this
Allowing for chance that machine man-hour contacts with people will be more and more.This when is just in the urgent need to a kind of safe machine
People's system ensures the safety of operator and reduces infringement to surrounding environment, can be widely used in machine person to person collaboration
In the case of work, it is ensured that the safety of workman or surrounding devices.
In traditional industrial production environment, external environment condition is known, and robot relies on accurate position control, according to
The optimization route planned in advance is acted, and just completes work that is dull and repeating.For this industrial robot,
Overweight the control to its end effector position or each of which free degree track, that is, the control for focusing on accurate point position motion
System, therefore the driver for using is rigid driver, lacks the safeguard protection to the mankind or environment.Environment amenable robot
It is substantially exactly that collision can be buffered when machine person to person or surrounding environment collide to system, and detection collision stops
Infringement.So how to realize the buffering nature of collision becomes the subject matter of research robot safety.Adaptive damping and just
Degree flexible mechanical arm also becomes one of present every country main direction of studying, and the realization of this mechanical arm relies primarily on controllable
Damping and the joint arrangement of rigidity.
The content of the invention
In view of this, it is an object of the invention to provide a kind of controllable damping and the flexible mechanical arm joint arrangement of rigidity,
Its damping and stiffness tuning scope are big, and compact conformation meets the demand of flexible mechanical arm, improve safety of the robot in action
Performance, reduces the infringement to workman or surrounding environment.
The flexible mechanical arm joint arrangement of controllable damping of the invention and rigidity, including the rotation input group being connected
Part, intermediate module and rotation output precision；
It is described rotate input module include input shaft and be connected with input shaft and can synchronous axial system input tin；
It is described rotate output precision include output shaft and be connected with output shaft and can synchronous axial system output tin, the output
Cylinder is located in input cylinder；
The intermediate module include jackshaft and jackshaft connection and can synchronous axial system the first radial transmission line and second radial direction
Disk, the jackshaft, the first radial transmission line and the second radial transmission line are each provided in output cylinder；First radial transmission line is close to input shaft,
The input cylinder drives the first radial direction disc spins by the first flexible member；Second radial transmission line near output shaft, described the
Two radial transmission lines drive output cylinder to rotate by the second flexible member；
The cavity I for housing magnetic flow liquid I, the cavity I are provided between first radial transmission line and the second radial transmission line
In be provided with magnet exciting coil I for producing externally-applied magnetic field, the jackshaft is located at being partially submerged in magnetic flow liquid I of cavity I.
Further, the cavity I is formed between first radial transmission line, the second radial transmission line, jackshaft and output cylinder；It is described
The dividing plate for cavity I to be separated radially is provided with jackshaft, the dividing plate is provided with valve opening and the valve opening coordinated with valve opening
Axle, is isolated between the magnet exciting coil I and magnetic flow liquid I by support ring, and the support ring is fixed on valve by the pressing of valve opening axle
In hole；The valve opening axle is fixed on dividing plate by fastener, and the effect for being flowed through for magnetic flow liquid I is provided with the valve opening
Passage, the valve opening axle is answered to be provided with the opening with effect channel connection.
Further, the jackshaft is provided with two pieces of extension plates for radially extending, two extension plates be symmetrical arranged and with
Cavity I is together separated into four cavity volumes by two symmetrically arranged dividing plates；The jackshaft drives extension plate to be moved towards dividing plate direction
During, extension plate drives magnetic flow liquid I to be flowed by the cavity volume that the cavity volume that valve opening reduces from volume increases toward volume.
Further, the dividing plate radially extends to form projection away from one end of central shaft, and the inner side of the output cylinder sets
Have for the groove with male cooperation fixing assembling.
Further, the jackshaft, the first radial transmission line, the second radial transmission line and support ring are made of non-magnet material.
Further, the cavity II for housing magnetic flow liquid II, the cavity are provided between the output cylinder and input cylinder
The magnet exciting coil II for producing externally-applied magnetic field is provided with II.
Further, the rear end of the input shaft radially extends to be formed and coordinates fixation for the front opening with input cylinder
First end cap；The front end of the output shaft radially extends to be formed and coordinates the second fixed end for the open rearward end with output cylinder
Lid；First flexible member and the second flexible member are arc spring structure；First radial transmission line and the first end cap it
Between be provided with the first storage tank for housing the first flexible member；It is provided with for holding between second radial transmission line and the second end cap
Put the second storage tank of the second flexible member.
Further, the circumferentially arranged core groove having for mounting ring shape field core in outer surface of the output cylinder, described
The circumferentially arranged annular groove having for winding magnet exciting coil II in the outer surface of field core；It is described output cylinder, the second end cap with it is defeated
Enter and form the cavity II between cylinder.
Further, the open rearward end of the input cylinder is connected with the 3rd end cap, and the 3rd end cap is annular in shape and with second
End cap is coaxially disposed；The input shaft, jackshaft and output shaft are coaxially disposed.
Further, between the input cylinder and output cylinder, between first radial transmission line and output cylinder, described second radially
The journal bearing for supporting positioning is equipped between disk and the 3rd end cap.
Beneficial effects of the present invention：The flexible mechanical arm joint arrangement of controllable damping of the invention and rigidity, input shaft is
Power intake, output shaft is clutch end, and input shaft passes through the first flexible member by power transmission to jackshaft, jackshaft
By the second flexible member by power transmission to output shaft；Due to the second flexible member and positioned at the first radial transmission line and second radially
Magnetorheological mechanism between disk is parallel between output shaft and jackshaft, and the first flexible member of connecting, by adjusting excitation
The magnetic field intensity that coil I is produced, so as to change the rheological behavior of magnetic flow liquid I, with adjust between output shaft and jackshaft etc.
Effect rigidity, so as to reach the purpose of integral rigidity between regulation input shaft and output shaft, its stiffness tuning scope is big；Additionally, by
In output cylinder is located at input cylinder, intermediate module is located in output cylinder and realizes power by the first radial transmission line and the second radial transmission line
Transmission so that present apparatus compact conformation；The present invention disclosure satisfy that the demand of flexible mechanical arm, improve robot action when
Security performance, reduces the infringement to workman or surrounding environment.
Brief description of the drawings
The invention will be further described with reference to the accompanying drawings and examples：
Fig. 1 is structural representation of the invention；
Fig. 2 is A-A sectional views in Fig. 1；
Fig. 3 is the connection diagram of jackshaft of the invention and the second radial transmission line；
Fig. 4 is the connection diagram of the first radial transmission line of the invention；
Fig. 5 is the connection diagram of output shaft of the invention and the second end cap；
Fig. 6 is operation principle mechanics simplified model figure of the present invention；
Fig. 7 is real work Equivalent Mechanical simplified model figure of the present invention.
Specific embodiment
As shown in Figures 1 to 7：The controllable damping of the present embodiment and the flexible mechanical arm joint arrangement of rigidity, including successively
The rotation input module of drive connection, intermediate module and rotate output precision；Drive connection is entered by way of transmitting power
Row connection.
It is described rotate input module include input shaft 1 and be connected with input shaft 1 and can synchronous axial system input tins 2, be input into
Axle 1；Input shaft 1 is power intake, the specially input of rotational power；Input cylinder 2 is cylindrical, is input into the axis of cylinder 2
Axis with input shaft 1 overlaps；The rear end of the input shaft 1 (before being, near rear side with the direction near left side in Fig. 1
Direction is rear) radially extend the first end cap 3 to be formed and coordinate fixation for the front opening with input cylinder 2；First end cap 3 is in
Discoid, circumferentially arranged some screws on the first end cap 3, the front end face for being input into cylinder 2 is also provided with corresponding screw, screw
Penetrate successively and be fixed on input cylinder 2 with by the first end cap 3, input shaft 1 drives the first end cap 3 and input cylinder 2 together when rotating
Rotate.
It is described rotate output precision include output shaft 4 and be connected with output shaft 4 and can synchronous axial system output tins 5, it is described
Output cylinder 5 is located in input cylinder 2；Output shaft 4 is clutch end, the specially output end of rotational power；Output cylinder 5 is in cylinder
Shape, the axis for exporting cylinder 5 overlaps with the axis of output shaft 4；Export the diameter of the diameter less than input cylinder 2 of cylinder 5；The output shaft
4 front end radially extends to be formed and coordinates the second fixed end cap 6 for the open rearward end with output cylinder 5；Second end cap 6 is in circle
Plate-like, circumferentially arranged some screws on the second end cap 6, the rear end face for exporting cylinder 5 is also provided with corresponding screw, screw according to
Secondary penetrating is fixed on output cylinder 5 with by the second end cap 6, and the second end cap 6 and output cylinder 5 are also together rotated when output shaft 4 is rotated.
The intermediate module include jackshaft 7 and jackshaft 7 connection and can synchronous axial system the first radial transmission line 8 and second
Radial transmission line 9, the jackshaft 7, the first radial transmission line 8 and the second radial transmission line 9 are each provided in output cylinder 5；First radial transmission line 8 is leaned on
Nearly input shaft 1, the input cylinder 2 drives the first radial transmission line 8 to rotate by the first flexible member 10；Second radial transmission line 9 is leaned on
Nearly output shaft 4, second radial transmission line 9 drives output cylinder 5 to rotate by the second flexible member 11；First radial transmission line 8, the second footpath
It is in the form of annular discs to disk 9, and being radially arranged along jackshaft 7；First radial transmission line 8, the second radial transmission line 9 can by with jackshaft
7 integrally formed modes are set, also can split set and be fixedly connected by related fixture；Input shaft 1 passes through the first bullet
Property element 10 by power transmission to jackshaft 7, jackshaft 7 is by the second flexible member 11 by power transmission to output shaft 4；First
Flexible member 10, the second flexible member 11 are transmitted and with the elastic component of accumulation of energy function to be capable of achieving power, it is preferable that described the
One flexible member 10 and the second flexible member 11 are arc spring structure, now, the end cap 3 of first radial transmission line 8 and first
Between be provided with the first storage tank 12 for housing the first flexible member 10, set between the end cap 6 of second radial transmission line 9 and second
There is the second storage tank 13 for housing the second flexible member 11；For example, being close to the end face of the first end cap 3 in the first radial transmission line 8
Two the first symmetrical and recessed storage tanks 12 of upper setting, the first end cap 3 then sets two on the end face of the first radial transmission line 8
Can insert the projection of the first storage tank 12, the first flexible member 10 is extruded by projection when the first end cap 3 is rotated, so that by power
Transmitted；Second radial transmission line 9 can also realize that power is transmitted with the second end cap 6 by same structure, will not be repeated here.
The cavity I for housing magnetic flow liquid I 14, the chamber are provided between the radial transmission line 9 of first radial transmission line 8 and second
The magnet exciting coil I 15 for producing externally-applied magnetic field is provided with body I, it is magnetorheological that the jackshaft 7 is located at being partially submerged in for cavity I
In liquid I 14；Magnetic flow liquid I 14, magnet exciting coil I 15 are a part for magnetorheological mechanism；Magnetorheological mechanism at this is rotation
Formula damper structure (can be using drum-type or tray type structure)；Cavity I is sealing structure, is to be capable of achieving by prior art,
Will not be repeated here；Magnetorheological damping due to the second flexible member 11 and between the first radial transmission line 8 and the second radial transmission line 9
Mechanism is parallel between output shaft 4 and jackshaft 7, and the first flexible member 10 of connecting, and is produced by adjusting magnet exciting coil I 15
Magnetic field intensity, so as to change the rheological behavior of magnetic flow liquid I 14, the damping force between control jackshaft 7 and output shaft 4, with
Equivalent stiffness between regulation output shaft 4 and jackshaft 7, it is overall equivalent firm between regulation input shaft 1 and output shaft 4 so as to reach
The purpose of degree, its stiffness tuning scope is big；Further, since output cylinder 5 is located in input cylinder 2, intermediate module is located in output cylinder 5
And realize that power is transmitted by the first radial transmission line 8 and the second radial transmission line 9 so that present apparatus compact conformation；After the input cylinder 2
End opening is connected with the 3rd end cap 16, and the 3rd end cap 16 is annular in shape and is coaxially disposed with the second end cap 6；The input shaft 1,
Jackshaft 7 and output shaft 4 are coaxially disposed；The circumferentially arranged some screws of 3rd end cap 16, the rear end face for being input into cylinder 2 is also provided with
Corresponding screw, screw penetrates be fixed on input cylinder 2 with by the 3rd end cap 16 successively, the 3rd end cap when input shaft 1 is rotated
16 also together rotate；Meanwhile, in order to ensure rotate it is smooth, it is described input cylinder 2 and output cylinder 5 between, first radial transmission line 8
The journal bearing 17 for supporting positioning is equipped between output cylinder 5, between the end cap 16 of second radial transmission line 9 and the 3rd.
In the present embodiment, the chamber is formed between first radial transmission line 8, the second radial transmission line 9, jackshaft 7 and output cylinder 5
Body I；Radially be provided with the dividing plate 18 for cavity I to be separated on the jackshaft 7, the dividing plate 18 be provided with valve opening 19 and with
The valve opening axle 20 that valve opening 19 coordinates, is isolated, the branch between the magnet exciting coil I 15 and magnetic flow liquid I 14 by support ring 21
Pushing out ring 21 is fixed in valve opening 19 by the pressing of valve opening axle 20；The valve opening axle 20 is fixed on dividing plate 18 by fastener, institute
The effect passage being provided with valve opening 19 for being flowed through for magnetic flow liquid I 14 is stated, the valve opening axle 20 is provided with and effect passage connects
Logical opening；When relatively rotating occur in output shaft 4 and jackshaft 7, magnet exciting coil I 15 will be by valve opening 19 by dividing plate 18
The both sides of cavity I flowing of separation, by adjusting the electric current of magnet exciting coil I 15, can control the damping force of magnetic flow liquid I 14, from
And reach the effect of controllable damping and rigidity；Dividing plate 18 is removably attached to jackshaft 7, for example, the dividing plate 18 is remote
Radially extend to form projection from one end of central shaft, the inner side of output cylinder 5 be provided with for male cooperation fixing assembling
Groove；Valve opening axle 20 can be fixed on dividing plate 18 by the fastener of bolt structure；The jackshaft 7 is provided with two pieces along it
The extension plate 22 for radially extending, two extension plates 22 are symmetrical arranged and are together separated into cavity I with two symmetrically arranged dividing plates 18
Four cavity volumes；During the jackshaft 7 drives extension plate 22 to be moved towards the direction of dividing plate 18, extension plate 22 drives magnetic flow liquid
The cavity volume that I 14 cavity volumes reduced from volume by valve opening 19 are increased toward volume flows；Extension plate 22 preferably in sector, and from centre
To output cylinder 5 direction, its sectional area gradually increases axle 7；To realize magnetorheological effect, the jackshaft 7, the first radial transmission line 8,
Two radial transmission lines 9 and support ring 21 are made of non-magnet material.
In the present embodiment, the cavity II for housing magnetic flow liquid II 23 is provided between the output cylinder 5 and input cylinder 2,
The magnet exciting coil II 24 for producing externally-applied magnetic field is provided with the cavity II；Magnetic flow liquid II 23, magnet exciting coil II 24 are
A part for magnetorheological mechanism；Cavity II is sealing structure, is to be capable of achieving by prior art, be will not be repeated here；Work as input
When there is Relative Vibration between axle 1 and output shaft 4, the attainable effect of magnetorheological mechanism at this, i.e., by magnet exciting coil II
The damping force of 24 control magnetic flow liquids II 23, elimination is reached by controlling damping force and is vibrated with control；Preferably, the output
The circumferentially arranged core groove having for mounting ring shape field core 25 in outer surface of cylinder 5, the outer surface edge of the field core 25
It is circumferentially provided with the annular groove for winding magnet exciting coil II 24；Described output form institute between cylinder 5, the second end cap 6 and input cylinder 2
State cavity II.
Finally illustrate, the above embodiments are merely illustrative of the technical solutions of the present invention and it is unrestricted, although with reference to compared with
Good embodiment has been described in detail to the present invention, it will be understood by those within the art that, can be to skill of the invention
Art scheme is modified or equivalent, and without deviating from the objective and scope of technical solution of the present invention, it all should cover at this
In the middle of the right of invention.
Claims (10)
1. the flexible mechanical arm joint arrangement of a kind of controllable damping and rigidity, it is characterised in that：Rotation including being connected is defeated
Enter component, intermediate module and rotate output precision；
It is described rotate input module include input shaft and be connected with input shaft and can synchronous axial system input tin；
It is described rotate output precision include output shaft and be connected with output shaft and can synchronous axial system output tin, the cylinder that exports sets
In cylinder is input into；
The intermediate module include jackshaft and jackshaft connection and can synchronous axial system the first radial transmission line and the second radial transmission line,
The jackshaft, the first radial transmission line and the second radial transmission line are each provided in output cylinder；First radial transmission line is described near input shaft
Input cylinder drives the first radial direction disc spins by the first flexible member；Second radial transmission line is near output shaft, second footpath
Output cylinder is driven to rotate by the second flexible member to disk；
The cavity I for housing magnetic flow liquid I is provided between first radial transmission line and the second radial transmission line, is set in the cavity I
There is the magnet exciting coil I for producing externally-applied magnetic field, the jackshaft is partially submerged in magnetic flow liquid I positioned at cavity I.
2. the flexible mechanical arm joint arrangement of controllable damping according to claim 1 and rigidity, it is characterised in that：Described
The cavity I is formed between one radial transmission line, the second radial transmission line, jackshaft and output cylinder；Use is radially provided with the jackshaft
In the dividing plate for separating cavity I, the dividing plate is provided with valve opening and the valve opening axle coordinated with valve opening, the magnet exciting coil I and magnetic
Isolated by support ring between rheology liquid I, the support ring is fixed in valve opening by the pressing of valve opening axle；The valve opening axle passes through
Fastener is fixed on dividing plate, and the effect passage for being flowed through for magnetic flow liquid I is provided with the valve opening, is set on the valve opening axle
There is the opening with effect channel connection.
3. the flexible mechanical arm joint arrangement of controllable damping according to claim 2 and rigidity, it is characterised in that：In described
Countershaft is provided with two pieces of extension plates for radially extending, and two extension plates are symmetrical arranged and together will with two symmetrically arranged dividing plates
Cavity I is separated into four cavity volumes；During the jackshaft drives extension plate to be moved towards dividing plate direction, extension plate drives magnetic current
Become liquid I to be flowed by the cavity volume that the cavity volume that valve opening reduces from volume increases toward volume.
4. the flexible mechanical arm joint arrangement of controllable damping according to claim 2 and rigidity, it is characterised in that：It is described every
Plate is radially extended to form projection away from one end of central shaft, and the inner side of the output cylinder is provided with for fixing dress with male cooperation
The groove matched somebody with somebody.
5. the flexible mechanical arm joint arrangement of controllable damping according to claim 4 and rigidity, it is characterised in that：In described
Countershaft, the first radial transmission line, the second radial transmission line and support ring are made of non-magnet material.
6. controllable damping and the flexible mechanical arm joint arrangement of rigidity according to any one of claim 2 to 5, its feature exist
In：Be provided with cavity II for housing magnetic flow liquid II between the output cylinder and input cylinder, be provided with the cavity II for
Produce the magnet exciting coil II of externally-applied magnetic field.
7. the flexible mechanical arm joint arrangement of controllable damping according to claim 6 and rigidity, it is characterised in that：It is described defeated
The rear end for entering axle radially extends the first end cap to be formed and coordinate fixation for the front opening with input cylinder；The output shaft
Front end radially extends to be formed and coordinates the second fixed end cap for the open rearward end with output cylinder；First flexible member with
Second flexible member is arc spring structure；It is provided between first radial transmission line and the first end cap for housing the first elasticity
First storage tank of element；The second appearance for housing the second flexible member is provided between second radial transmission line and the second end cap
Put groove.
8. the flexible mechanical arm joint arrangement of controllable damping according to claim 7 and rigidity, it is characterised in that：It is described defeated
Go out the circumferentially arranged core groove having for mounting ring shape field core in outer surface of cylinder, the outer surface of the field core is circumferentially
It is provided with the annular groove for winding magnet exciting coil II；Described output form the cavity II between cylinder, the second end cap and input cylinder.
9. the flexible mechanical arm joint arrangement of controllable damping according to claim 8 and rigidity, it is characterised in that：It is described defeated
The open rearward end for entering cylinder is connected with the 3rd end cap, and the 3rd end cap is annular in shape and is coaxially disposed with the second end cap；The input
Axle, jackshaft and output shaft are coaxially disposed.
10. the flexible mechanical arm joint arrangement of controllable damping according to claim 9 and rigidity, it is characterised in that：It is described
Between input cylinder and output cylinder, between first radial transmission line and output cylinder, between second radial transmission line and the 3rd end cap
It is provided with the journal bearing for supporting positioning.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611189852.5A CN106763589B (en) | 2016-12-21 | 2016-12-21 | The flexible mechanical arm joint arrangement of controllable damping and rigidity |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611189852.5A CN106763589B (en) | 2016-12-21 | 2016-12-21 | The flexible mechanical arm joint arrangement of controllable damping and rigidity |
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| CN106763589A true CN106763589A (en) | 2017-05-31 |
| CN106763589B CN106763589B (en) | 2019-03-22 |
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| CN107253043A (en) * | 2017-06-29 | 2017-10-17 | 重庆大学 | A kind of variable flexibility mechanical arm tool for twisting screw of Three Degree Of Freedom |
| CN107571255A (en) * | 2017-10-20 | 2018-01-12 | 杭州电子科技大学 | A kind of submissive driver of controllable damping for joint of robot |
| CN108527435A (en) * | 2018-03-26 | 2018-09-14 | 哈尔滨工业大学深圳研究生院 | A kind of continuous controllable submissive joint of variation rigidity robot based on magnetorheological fluid |
| CN108818612A (en) * | 2018-09-04 | 2018-11-16 | 长春大学 | Electromechanical integration passive compliance controls joint of robot |
| CN109822615A (en) * | 2019-03-28 | 2019-05-31 | 重庆大学 | The magnetorheological damping joint arrangement of controllable damping and rigidity |
| CN111839846A (en) * | 2020-07-27 | 2020-10-30 | 深圳市健行仿生科技有限公司 | Bionic ankle joint artificial limb |
| CN115163724A (en) * | 2022-08-11 | 2022-10-11 | 重庆大学 | Magneto-rheological inertia damper |
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| CN107253043A (en) * | 2017-06-29 | 2017-10-17 | 重庆大学 | A kind of variable flexibility mechanical arm tool for twisting screw of Three Degree Of Freedom |
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| CN107571255A (en) * | 2017-10-20 | 2018-01-12 | 杭州电子科技大学 | A kind of submissive driver of controllable damping for joint of robot |
| CN107571255B (en) * | 2017-10-20 | 2019-11-05 | 杭州电子科技大学 | A kind of submissive driver of the controllable damping for joint of robot |
| CN108527435A (en) * | 2018-03-26 | 2018-09-14 | 哈尔滨工业大学深圳研究生院 | A kind of continuous controllable submissive joint of variation rigidity robot based on magnetorheological fluid |
| CN108527435B (en) * | 2018-03-26 | 2022-03-22 | 哈尔滨工业大学深圳研究生院 | Magnetorheological fluid-based continuous controllable stiffness-variable robot flexible joint |
| CN108818612A (en) * | 2018-09-04 | 2018-11-16 | 长春大学 | Electromechanical integration passive compliance controls joint of robot |
| CN109822615A (en) * | 2019-03-28 | 2019-05-31 | 重庆大学 | The magnetorheological damping joint arrangement of controllable damping and rigidity |
| CN111839846A (en) * | 2020-07-27 | 2020-10-30 | 深圳市健行仿生科技有限公司 | Bionic ankle joint artificial limb |
| CN111839846B (en) * | 2020-07-27 | 2022-10-18 | 深圳市健行仿生科技有限公司 | Bionic ankle joint artificial limb |
| CN115163724A (en) * | 2022-08-11 | 2022-10-11 | 重庆大学 | Magneto-rheological inertia damper |
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