CN108582150A - A kind of submissive joint of composite excitation formula robot based on magnetorheological fluid - Google Patents
A kind of submissive joint of composite excitation formula robot based on magnetorheological fluid Download PDFInfo
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- CN108582150A CN108582150A CN201810598873.5A CN201810598873A CN108582150A CN 108582150 A CN108582150 A CN 108582150A CN 201810598873 A CN201810598873 A CN 201810598873A CN 108582150 A CN108582150 A CN 108582150A
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- end cap
- composite excitation
- magnetorheological fluid
- disc
- left end
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Dynamo-Electric Clutches, Dynamo-Electric Brakes (AREA)
- Fluid-Damping Devices (AREA)
Abstract
A kind of submissive joint of composite excitation formula robot based on magnetorheological fluid, including power input mechanism, composite excitation coupling device and power take-off mechanism, the output shaft of power input mechanism and the input axis connection of composite excitation coupling device, power input mechanism is fixedly connected with rear bar, the output shaft of composite excitation coupling device is connect with power take-off mechanism, power take-off mechanism is fixedly connected with front bar, composite excitation coupling device includes input shaft, magnet exciting coil, permanent magnet, magnetism-isolating loop, driving disc spacing pressing, driven disc, output shaft, yoke, magnetorheological fluid, left end cap and right end cap, yoke and magnetism-isolating loop are set between left end cap and right end cap, magnetism-isolating loop, left end cap and right end cap form rotor vessel, driving disc spacing pressing, driven disc is respectively positioned in rotor vessel, it is installed between magnetism-isolating loop and yoke to change the magnet exciting coil of magnetic field intensity in rotor vessel；Permanent magnet is separately mounted on left end cap and right end cap.The present invention improves the safety of flexible robot.
Description
Technical field
The present invention relates to robot fields, specifically, being that a kind of composite excitation formula robot based on magnetorheological fluid is soft
Along joint.
Background technology
With the continuous development of intelligent robot perception and control technology, intelligent robot is increasingly becoming the work partner of the mankind
Companion is widely used in fields such as industrial production, human lives' service, medical operating, rehabilitation auxiliary, agricultural pickings.
Especially joint type serial manipulator largely completes instead of the mankind and much may be used since it possesses significant advantage
The work of flow is fixed in structured environment, especially under severe dangerous environment, it is big that robot can replace the mankind to complete
Part danger and scissors and paste, alleviate the labor intensity of the mankind, improve the operating condition of the mankind.
In recent years, researcher, which has been no longer satisfied with, the fixation flow of joint type serial manipulator to make in structured environment
Industry application continuously attempts to joint type serial manipulator to be applied to multi-machine collaborative, man-machine collaboration etc., this is to environment sensing, intelligence
More stringent requirements are proposed for the technologies such as energy control, and especially to the design of the intrinsic safety of robot, more stringent requirements are proposed.
The joint of traditional joint type serial manipulator is mainly made of motor, speed reducer, rigid transmission parts be efficiently,
Accurate position control provides good condition, but has apparent deficiency in terms of safety and adaptability, rigid due to existing
Property impact, to be unable to fully ensure manipulator multi-machine collaborative, man-machine collaboration application when touch-safe, designing and developing has
The submissive joint of robot of transmission stiffness adaptive ability, and it is this as making up based on this joint Integrated Development flexible robot
One of insufficient effective means.
Magnetorheological fluid is a kind of intellectual material, has good mangneto phase-change characteristic.When no externally-applied magnetic field effect, show as
Newtonian fluid；And outside plus under magnetic fields, moment becomes the solid viscoplasticity body of class from the Newtonian fluid flowed freely, presents
Controllable shear yield strength, and this transition process is controllable, reversible, transient response.Magnetorheological fluid is applied to machine
The driving joint of device people makes the driving joint of robot have compliance, can realize soft by changing the intensity of externally-applied magnetic field
Property with rigidity flexible conversion, to make the robot product based on this joint in multi-machine collaborative, man-machine collaboration and rapid wear pair
As there is better safety when operation.
Invention content
The present invention proposes a kind of submissive joint of composite excitation formula robot based on magnetorheological fluid, and magnetorheological fluid is filled
In the sealed volume of the driving and driven disc cross arrangement composition of multilayer, using permanent magnet and electromagnetic coil as composite excitation module
It is installed on outside sealed volume, collectively constitutes composite excitation coupling device and is installed between input, output mechanism, encouraged by adjusting
Raw controllable, the adjustable externally-applied magnetic field of magnetoelectricity miscarriage, makes magnetorheological fluid be transformed into viscoplasticity body, composite excitation coupling device is made to be cut
Transmission capacity is cut, to realize submissive joint to the input of forward and backward bar, effective transmission of output torque and there is compliant characteristic.
The technical solution adopted by the present invention to solve the technical problems is：
A kind of submissive joint of composite excitation formula robot based on magnetorheological fluid, the joint are located at the front bar of robot with after
The junction of bar, the submissive joint include power input mechanism, composite excitation coupling device, power take-off mechanism, the power
The output shaft of input mechanism and the input axis connection of composite excitation coupling device, the power input mechanism are fixedly connected with rear bar,
The output shaft of the composite excitation coupling device is connect with power take-off mechanism, and the power take-off mechanism is fixedly connected with front bar,
The composite excitation coupling device includes input shaft, magnet exciting coil, permanent magnet, magnetism-isolating loop, driving disc spacing pressing, driven disc, output shaft, magnetic
Yoke, magnetorheological fluid, left end cap and right end cap, the input shaft are mounted on left end cap, and the output shaft is mounted on right end cap,
Each active disc arranged radially interval of the driving disc spacing pressing is mounted on baffle ring, stretch into input shaft on the inside of the left end cap with
Active disc near left end cap is fixedly connected；Each passive disc radial of the driven disc is arranged side by side in output shaft
On, it misplaces between the active disc and passive disc and arranges and have between each other running clearance, magnetorheological fluid is located at described turn
Among dynamic gap, the cavity that the running clearance is formed carries out dynamic sealing using oil sealing；
Yoke and magnetism-isolating loop, the magnetism-isolating loop, left end cap and right end cap composition are set between the left end cap and right end cap
Rotor vessel, the driving disc spacing pressing, driven disc are respectively positioned in the rotor vessel, are installed between the magnetism-isolating loop and yoke to change
Become the magnet exciting coil of magnetic field intensity in rotor vessel；The permanent magnet is separately mounted on left end cap and right end cap.
Further, the driving disc spacing pressing includes 4 active discs, and the driven disc includes 3 passive discs.
Further, the output shaft and radial thrust bearing is installed between the active disc of right end cap.
The input shaft is connect with active disc by hexagon socket countersunk flat cap head screw, and the input shaft passes through zanjon with left end cap
Ball bearing connects.
The output shaft is connect with right end cap by duplex bearing, and the bearing is deep groove ball bearing.
Gasket is used between the baffle ring and active disc to be sealed, and stay bolt is used in combination to lock.
The passive disc is radially fixed on output shaft by key, and outermost passive disc carries out axis with shaft end ring
To fixation.
The yoke is installed on by hexagon socket countersunk flat cap head screw between left end cap and right end cap.The yoke is that the magnetic line of force exists
Access outside electromagnetic coil.
The power input mechanism includes the driving motor with retarder and rear shaft coupling, the driving motor and retarder
Output shaft be connected with the input shaft of composite excitation coupling device by rear shaft coupling, the servo motor and speed reducer are mounted on
Rear bar intracavitary.
The power take-off mechanism includes preceding shaft coupling, bearing block and taper roll bearing, and front bar lower end is equipped with axle sleeve,
Taper roll bearing is installed, for taper roll bearing in bearing block, bearing block is fixed by screws in articular shell on axle sleeve
On, the taper roll bearing is connect with preceding shaft coupling one end, and the preceding shaft coupling other end is defeated with composite excitation coupling device
Go out axis connection.
The present invention technical concept be：Composite excitation coupling device is by input shaft, left and right end cap, driving disc spacing pressing, driven disc, output
The compositions such as axis, bearing, magnetism-isolating loop, electromagnetic coil, permanent magnet, yoke, magnetorheological fluid.One end of input shaft connects output machine
Shaft coupling in structure and retarder, the other end connects active disc, and the output of retarder is transferred to active disc.Mixing is encouraged
Magnetic coupling uses multi-disc type structure, between active disc and passive disc and is not directly contacted with, gap portion is filled with magnetorheological
Electromagnetic coil is arranged in liquid, magnetism-isolating loop outside.Driven axle one end is installed by passive disc, the output machine of the other end and front bar lower end
Structure connects.The external magnetic field for being applied to magnetorheological fluid is provided jointly by electromagnetic coil and permanent magnet, the magnetic flux and permanent magnet of electromagnetic field
Magnetic flux vector calculus is carried out in the working environment of magnetorheological fluid, achieve the effect that composite excitation.When total magnetic intensity is zero
When, Newtonian fluid is presented in magnetorheological fluid, is disconnected between principal and subordinate's Moving plate piece, composite excitation coupling device cannot transmit torque；When
When total magnetic intensity is not zero, magnetorheological fluid is changed from Newtonian fluid to viscoplasticity body, to play shearing gearing.
Beneficial effects of the present invention are mainly manifested in：The submissive joint composite excitation coupling device of robot based on magnetorheological fluid
Variation rigidity transmission may be implemented, make the flexible robot for being integrated with the submissive joint that there is good compliant characteristic, assisted for multimachine
The safety of same, man-machine collaboration and rapid wear object provides sufficient guarantee.Meanwhile the composite excitation that electromagnetism is combined with permanent magnetism
Mode is compared to the single excitation mode of electromagnetic coil so that power consumption is lower at work for coupling device so that coupling device is not working
When can also keep suitable static pose, further improve the safety of flexible robot.
Description of the drawings
Fig. 1 is the overall structure diagram of the present invention.
Fig. 2 is the composite excitation controller schematic diagram of the present invention.
Fig. 3 is the permanent magnet schematic diagram of the present invention.
In figure：1-front bar, 2-bearing blocks, 3-taper roll bearings, 4-preceding shaft couplings, 5-rear bars, 6-mixing are encouraged
Magnetic coupling, 7-rear shaft couplings, 8-retarders, 9-servo motors, 10-end caps, 11-input shafts, 12-shaft end rings,
13-deep groove ball bearings, 14-shaft end rings, 15-active discs, 16-permanent magnets, 17-passive discs, 18-left end caps,
19-magnetism-isolating loops, 20-baffle rings, 21-active discs, 22-yokes, 23-magnet exciting coils, 24-right end caps, 25-gaskets,
26-active discs, 27-oil sealings, 28-radial thrust bearings, 29-deep groove ball bearings, 30-output shafts, 31-driving disc spacing pressings
Piece, 32-passive discs, 33-passive discs, 34-permanent magnets.
Specific implementation mode
The invention will be further described below in conjunction with the accompanying drawings.
Referring to Fig.1~Fig. 3, a kind of submissive joint of composite excitation formula robot based on magnetorheological fluid, which is located at machine
The junction of the front bar 1 and rear bar 5 of device people, the joint include power input mechanism, composite excitation coupling device 6, power output
Mechanism.
The power input mechanism includes the driving motor 9 with retarder 8, rear shaft coupling 7.Servo motor 9 and retarder 8
Output shaft be connected with the input shaft 11 of composite excitation coupling device 6 by rear shaft coupling 7.
The composite excitation coupling device includes input shaft 11, magnet exciting coil 23, magnetism-isolating loop 19, driving disc spacing pressing (including driving disc spacing pressing
Piece 15,21,26,31), driven disc (including passive disc 17,32,33), baffle ring 20, bearing (13,28,29), output shaft 30, magnetic
Yoke 22, magnetorheological fluid, left end cap 18 and right end cap 24, the rear bar 5 is interior to be installed driving motor 9 (preferably servo motor) and subtracts
Fast device 8, the output shaft of the retarder 8 are connect with the input shaft 11 of the composite excitation coupling device 6 by rear shaft coupling 7, quilt
Moving plate piece and active disc have running clearance, magnetorheological fluid to work at the running clearance between each other, transmit torque and drive
The rotation of passive disc, therefore use oil sealing 27 to carry out dynamic sealing in the cavity.The input shaft 11 passes through interior six with driving disc spacing pressing
Angle sunk screw connection, the active disc (15,21,26,31) are spaced constant spacing, the baffle ring 20 and master by baffle ring 20
Gasket 25 is used between Moving plate piece (15,21,26,31) to be sealed, and stay bolt is used in combination to lock.The passive disc (17,
32,33) radially fixed on output shaft 30 by key, spacing, outermost passive disc shaft end are ensured by aluminum baffle ring
Baffle ring 14 carries out axial restraint.In order to reduce sliding friction, it is mounted with that one centripetal pushes away between the output shaft 30 and driving disc spacing pressing
Power bearing 28, carry out axial spacing fix, used on the output shaft 30 duplex bearing 29 arrangement, improve device to neutrality
Energy.The permanent magnet (16,34) is mounted on by hexagon socket countersunk flat cap head screw in left end cap 18 and right end cap 24 respectively, works as excitation wire
When circle power-off, joint can be made to keep static pose.The passive disc (17,32,33) and active disc (15,21,26,31)
It is respectively positioned in magnetism-isolating loop 19, is installed on the magnetism-isolating loop 19 to change the magnet exciting coil 23 of magnetic field intensity in rotor vessel, institute
It states permanent magnet (16,34) and electromagnetic coil 23 and cooperatively forms magnetorheological fluid composite excitation module, the yoke 22 passes through interior
Hexagonal sunk screw is installed between left end cap 18 and right end cap 24, and the output shaft 30 of the composite excitation coupling device is by preceding
Axis device 4 is connect with 1 lower end of front bar.
The power take-off mechanism includes preceding shaft coupling 4, bearing block 2, taper roll bearing 3, and 1 lower end of front bar is equipped with axis
It covers, taper roll bearing 3 is installed on axle sleeve, taper roll bearing 3 is mounted in bearing block 2, and bearing block 2 is fixed by screws in
On articular shell, the taper roll bearing 3 is connect with 4 one end of preceding shaft coupling, and the other end and composite excitation of preceding shaft coupling 4 are even
The output axis connection of clutch 6 transmits torque to front bar 1, drives the rotary motion of front bar 1.
In the present embodiment, magnetorheological fluid is filled in the running clearance, and the electromagnetic coil energization moment generates electromagnetic field, forever
Magnet has the magnetic field of fixing intensity, and the two vector addition is up to the total magnetic field applied to magnetorheological fluid, when total magnetic intensity is
When zero, Newtonian fluid is presented in magnetorheological fluid, and composite excitation coupling device cannot transmit torque；When total magnetic intensity is not zero, magnetic
Viscoplasticity body is presented in rheology liquid, changes the size of magnetic excitation coil electric current and can adjust total magnetic intensity, keeps composite excitation even
Clutch obtains controllable, adjustable transmission stiffness, to make the submissive joint of robot based on this coupling device have transmission capacity and
Compliant characteristic makes the flexible robot based on this submissive joint have higher safety.
The submissive joint of composite excitation formula robot based on magnetorheological fluid of the present embodiment by composite excitation coupling device, after
Bar, front bar composition, with composite excitation coupling device for main transmission device, motor and retarder are fixed on inside rear bar, by mixing
It closes excitation coupling device and the rotary motion of motor and retarder is transferred to front bar, front bar is made to do swing arm motion.Motion Control Strategies
It is analyzed as follows：
(1) permanent magnet of composite excitation coupling device generates fixed magnetic field, and electromagnetic coil then generates controllable, adjustable electromagnetism
, magnetorheological fluid that the sum of the two vector acts on inside coupling device simultaneously brings it about phase transformation.
(2) when electromagnetic coil powers off, excitation effect does not occur for electromagnetic coil, and magnetorheological fluid is by permanent magnet at this time
Effect, remains viscoplasticity body characteristics, can play certain gearing, transmission stiffness is determined by the design parameter of permanent magnet.
(3) after electromagnetic coil is powered, excitation effect occurs for electromagnetic coil, if electromagnetic field is identical as permanent magnetism field direction,
The size of magnetic field intensity is the sum of the field strength value of the two, and transmission stiffness further increases.If electromagnetic field and permanent magnetic field side
To on the contrary, then the size of magnetic field intensity is the difference of the field strength value of the two, when difference is zero, magnetorheological fluid is changed into ox
Pause fluid, and when the two numerical value is unequal, magnetorheological fluid shows as viscoplasticity body, and transmission stiffness is determined by the size of the two difference
It is fixed.
(4) when the total magnetic intensity numerical value of composite excitation coupling device is equal to zero, magnetorheological fluid shows as Newtonian fluid, at this time
The submissive joint cannot play gearing.When total magnetic intensity numerical value is more than zero, magnetorheological fluid shows as viscoplasticity body, passes through
The size for controlling exciting current realizes the regulation and control to total magnetic intensity numerical value to change the shear modulus of viscoplasticity body, further
By controlling motor output, front bar can be driven to do swing arm motion, load capacity and transmission stiffness by output power of motor and total
The size of magnetic field intensity determines.
(5) after submissive joint motions reach object pose, motor stops output, and submissive joint is in magnetorheological fluid viscoplasticity
Pose is kept under the action of body, can adjust the size of current of magnet exciting coil according to loading condition at this time, to realize in minimum work(
Consume the edge operation under target.
(6) in man-machine collaboration or operation rapid wear object, corresponding exciting current can be set according to the requirement of safety coefficient
Input, to obtain corresponding transmission stiffness and load capacity.
(7) when prominent chance risk of collision, transmission stiffness can be changed by changing the magnetic field intensity of magnet exciting coil in real time,
To based on this joint flexible machine human body and contact object play a protective role.
(8) when electromagnetic coil failure powers off or artificially actively has a power failure, permanent magnet can make the magnetorheological fluid in coupling device
Viscoplasticity volume morphing is kept, so as to so that based on the flexible robot in this joint in the case where Design of Permanent Magnet parameter allows
Continue to keep pose, or slowly adjusted to other poses in the case where viscoplasticity body plays damping action, to effective guarantee
The safety of flexible machine human body.
Claims (10)
1. a kind of submissive joint of composite excitation formula robot based on magnetorheological fluid, which is located at the front bar and rear bar of robot
Junction, it is characterised in that：The submissive joint includes power input mechanism, composite excitation coupling device, power take-off mechanism,
The output shaft of the power input mechanism and the input axis connection of composite excitation coupling device, the power input mechanism are solid with rear bar
Fixed connection, the output shaft of the composite excitation coupling device are connect with power take-off mechanism, and the power take-off mechanism is solid with front bar
Fixed connection, the composite excitation coupling device includes input shaft, magnet exciting coil, permanent magnet, magnetism-isolating loop, driving disc spacing pressing, driven disc, output
Axis, yoke, magnetorheological fluid, left end cap and right end cap, the input shaft are mounted on left end cap, and the output shaft is mounted on right end
It covers, each active disc arranged radially interval of the driving disc spacing pressing is mounted on baffle ring, is stretched into defeated on the inside of the left end cap
Enter axis to be fixedly connected with the active disc near left end cap；Each passive disc radial of the driven disc is arranged side by side in defeated
It misplaces on shaft, between the active disc and passive disc and arranges and there is running clearance, magnetorheological fluid to be located at institute between each other
Among stating running clearance, the cavity that the running clearance is formed carries out dynamic sealing using oil sealing；
Yoke and magnetism-isolating loop are set between the left end cap and right end cap, and the magnetism-isolating loop, left end cap and right end cap form rotor
Vessel, the driving disc spacing pressing, driven disc are respectively positioned in rotor vessel, are installed between the magnetism-isolating loop and yoke and are held to change rotor
The magnet exciting coil of intracavitary magnetic field intensity, the permanent magnet are separately mounted on left end cap and right end cap.
2. the submissive joint of composite excitation formula robot based on magnetorheological fluid as described in claim 1, which is characterized in that described
Driving disc spacing pressing includes 4 active discs, and the driven disc includes 3 passive discs.
3. the submissive joint of composite excitation formula robot based on magnetorheological fluid as claimed in claim 1 or 2, it is characterised in that：
The output shaft and radial thrust bearing is installed between the active disc of right end cap.
4. the submissive joint of composite excitation formula robot based on magnetorheological fluid as claimed in claim 1 or 2, it is characterised in that：
The input shaft is connect with active disc by hexagon socket countersunk flat cap head screw, and the input shaft is connected with left end cap by deep groove ball bearing
It connects.
5. the submissive joint of composite excitation formula robot based on magnetorheological fluid as claimed in claim 1 or 2, it is characterised in that：
The output shaft is connect with right end cap by duplex bearing, and the bearing is deep groove ball bearing.
6. the submissive joint of composite excitation formula robot based on magnetorheological fluid as claimed in claim 1 or 2, it is characterised in that：
Gasket is used between the baffle ring and active disc to be sealed, and stay bolt is used in combination to lock.
7. the submissive joint of composite excitation formula robot based on magnetorheological fluid as claimed in claim 1 or 2, it is characterised in that：
The passive disc is radially fixed on output shaft by key, and outermost passive disc carries out axial restraint with shaft end ring.
8. the submissive joint of composite excitation formula robot based on magnetorheological fluid as claimed in claim 1 or 2, it is characterised in that：
The yoke is installed on by hexagon socket countersunk flat cap head screw between left end cap and right end cap.
9. the submissive joint of composite excitation formula robot based on magnetorheological fluid as claimed in claim 1 or 2, it is characterised in that：
The power input mechanism includes the output shaft of the driving motor with retarder and rear shaft coupling, the driving motor and retarder
It is connected with the input shaft of composite excitation coupling device by rear shaft coupling, the servo motor and speed reducer are mounted on rear rod cavity
It is interior.
10. the submissive joint of composite excitation formula robot based on magnetorheological fluid as claimed in claim 1 or 2, it is characterised in that：
The power take-off mechanism includes preceding shaft coupling, bearing block and taper roll bearing, and front bar lower end is equipped with axle sleeve, pacifies on axle sleeve
Taper roll bearing is filled, taper roll bearing is in bearing block, and bearing block is fixed by screws on articular shell, the circle
Taper roller bearing is connect with preceding shaft coupling one end, the output axis connection of the preceding shaft coupling other end and composite excitation coupling device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810598873.5A CN108582150A (en) | 2018-06-12 | 2018-06-12 | A kind of submissive joint of composite excitation formula robot based on magnetorheological fluid |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810598873.5A CN108582150A (en) | 2018-06-12 | 2018-06-12 | A kind of submissive joint of composite excitation formula robot based on magnetorheological fluid |
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| Publication Number | Publication Date |
|---|---|
| CN108582150A true CN108582150A (en) | 2018-09-28 |
Family
ID=63628119
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810598873.5A Pending CN108582150A (en) | 2018-06-12 | 2018-06-12 | A kind of submissive joint of composite excitation formula robot based on magnetorheological fluid |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108582150A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110149039A (en) * | 2019-05-15 | 2019-08-20 | 嘉兴学院 | A kind of hybrid magnetorheological fluid-permanent magnet shaft coupling |
| CN115741770A (en) * | 2022-11-16 | 2023-03-07 | 安徽工程大学 | Electromagnetic drive type friction variable-rigidity flexible joint and working method |
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| CN208428262U (en) * | 2018-06-12 | 2019-01-25 | 浙江工业大学 | A kind of submissive joint of composite excitation formula robot based on magnetorheological fluid |
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| JPH01266325A (en) * | 1988-04-13 | 1989-10-24 | Railway Technical Res Inst | Power transmission device using magnetic substance in viscous fluid and device therefor |
| CN101793312A (en) * | 2010-02-11 | 2010-08-04 | 中国矿业大学 | Magneto-rheological stepless speed changer |
| CN102879174A (en) * | 2012-08-30 | 2013-01-16 | 江苏大学 | Magneto-rheological fluid yield stress test method and device |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110149039A (en) * | 2019-05-15 | 2019-08-20 | 嘉兴学院 | A kind of hybrid magnetorheological fluid-permanent magnet shaft coupling |
| CN115741770A (en) * | 2022-11-16 | 2023-03-07 | 安徽工程大学 | Electromagnetic drive type friction variable-rigidity flexible joint and working method |
| CN115741770B (en) * | 2022-11-16 | 2024-04-12 | 安徽工程大学 | Electromagnetic driving type friction variable stiffness compliant joint and working method |
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