Design and experimental of MRF transmission for compliant joints
                                                         WANG Pengfei, CAI Shibo, BAO Guanjun, XU Fang
                            (College of Mechanical Engineering, Zhejiang University of Technology, Hangzhou 310014, China)

Abstract: Aiming at the solving the security problem in humancomputer interaction, the magnetorheological fluid variable stiffness transmission device was designed and analysed by experiment, a flexible joint based on multidisc MRF transmission was proposed. First, the torque mathematical model of transmission was established, and the Matlab was used to simulate and analyze the influence parameters. Then the magnetorheological fluid transmission structure was designed according to the simulation results, and the magnetic circuit was verified by the magnetic field finite element simulation software Ansoft Maxwell. Finally, the experimental platform was built to test the output torque of the magnetorheological fluid transmission. The results indicate that the magnetorheological fluid transmission can effectively transmit torque, the linearity of output torque and input magnetic field intensity is good, and the response is fast. The transmission characteristics can meet the requirements of robot joints.

Key words: magnetorheological fluid(MRF); soft joints; multidisc; experimental test