Design and experimental study of compliant joints of robot based on magneto-rheological fluid

Abstract

In view of the insufficient of flexibility and safety on the existing rigid robot, and the soft-bodied robot has the defect in the accuracy. In this paper, a robot compliant joint based on MRF (magneto-rheological fluid) is designed, the driving mechanism of the joint is analyzed and a kinematic model is established. The compliant joint is embedded with a magneto-rheological fluid actuator in a conventional robot joint, in order to increase the active compliance control function of the joint. And the safety performance is increased on the basis of the control accuracy. We process a soft joint prototype. Test of the torque output of the MRF transmission, the corner output of the passive rod and the force output were carried out. Experimental results show, Magneto-rheological fluid compliant joints can transfer the force of 0.2N and the response time can be within 200ms.