The invention discloses a controllable variable stiffness leg based on magnetorheology. The controllable variable stiffness leg comprises a magnetorheology damping module, a connecting belt, a pair of leg supporting rods, a pair of foot supporting rods and a plurality of connecting and fastening parts. The magnetorheology damping module is connected with the two leg supporting rods in a bilateral symmetry manner, and two torsional springs are mounted between the magnetorheology damping module and the leg supporting rods in a bilateral symmetry manner; two ends of the torsional springs are connected with a magnetorheology damping module end cover and the leg supporting rods, and the two foot supporting rods are connected with the two leg supporting rods through central rods; and the foot supporting rods can rotate relative to the leg supporting rods. One end of the connecting belt is wound on the magnetorheology damping module, and the other end of the connecting belt is connected with one ends of the foot supporting rods. The problems that a leg device is single in stiffness in the advancing process, and the ground adaptation range is narrow are solved; and the mechanism is simple, the control strategy is simple, the response speed is high, and continuous effective changes of rigidity can be achieved.
Controllable variable stiffness leg based on magnetorheology
2016-01-06
Patent
Elektronische Ressource
Englisch
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
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