Structral design and stiffness modeling analysis of linear drive flexible joint based on magneto-variable stiffness

ZHOU Yuxuan; CHEN Saixuan; SUN Yixia; ZHU Zina; CUI Guohua

doi:10.12299/jsues.24-0384

Volume 40 Issue 2

Jun. 2026

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Article Navigation > Journal of Shanghai University of Engineering Science > 2026 > 40(2): 152-159

ZHOU Yuxuan, CHEN Saixuan, SUN Yixia, ZHU Zina, CUI Guohua. Structral design and stiffness modeling analysis of linear drive flexible joint based on magneto-variable stiffness[J]. Journal of Shanghai University of Engineering Science, 2026, 40(2): 152-159. doi: 10.12299/jsues.24-0384

Citation:

ZHOU Yuxuan, CHEN Saixuan, SUN Yixia, ZHU Zina, CUI Guohua. Structral design and stiffness modeling analysis of linear drive flexible joint based on magneto-variable stiffness[J]. Journal of Shanghai University of Engineering Science, 2026, 40(2): 152-159. doi: 10.12299/jsues.24-0384

Citation:

ZHOU Yuxuan, CHEN Saixuan, SUN Yixia, ZHU Zina, CUI Guohua. Structral design and stiffness modeling analysis of linear drive flexible joint based on magneto-variable stiffness[J]. Journal of Shanghai University of Engineering Science, 2026, 40(2): 152-159. doi: 10.12299/jsues.24-0384

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Structral design and stiffness modeling analysis of linear drive flexible joint based on magneto-variable stiffness

doi: 10.12299/jsues.24-0384

School of Mechanical and Automotive Engineering, Shanghai University of Engineering Science, Shanghai 201620, China

Received Date: 2024-10-22
Available Online: 2026-08-19
Publish Date: 2026-06-30

Abstract

Abstract

To address the problems of limited environmental adaptability of rigid manipulators, limited force output capability of flexible manipulators, and slow response and discontinuous stiffness variation of traditional variable stiffness technologies, a cable-driven pure flexible joint and a rigid-flexible coupling joint based on magnetorheological variable stiffness were designed. First, a magnetorheological elastomer model based on an inclined chain was established, and the factors affecting its strength were analyzed. Then, a cable-driven pure flexible joint with a magnetorheological elastomer as the central body was designed. Its stiffness model was established by simplifying it to a cantilever beam, and the accuracy was verified. The experimental results show that the joint stiffness is increased by 33% at a magnetic field strength of 40 mT. Next, a rigid-flexible coupling joint was designed. Based on the principle of virtual work, a torque model of the joint was established, from which the joint stiffness model was derived, and simulations and experiments were conducted. The results show that the stiffness is increased by 46.4% at a current of 2 A. Comparative results indicate that the rigid-flexible coupling joint has a broader range of stiffness variation.
- magnetorheological elastomer (MRE),
- variable stiffness,
- flexible joint,
- flexible rigid coupling

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References(17)

References

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