Decoupling Analysis of Maglev Variable Stiffness Joints Based on Permanent Magnet

Variable stiffness joints, due to their variable stiffness feature, have promising application prospects in fields such as human rehabilitation and military surveillance. However, currently, variable stiffness joints generally have problems of weak nonlinearity and difficulty in decoupling. Based on this and previous related work, the paper proposes a novel maglev variable stiffness joint, which contains permanent magnet repulsion force that provides a nonlinear property similar to that of the human elbow. And through structural and static research, a decoupling analysis method of joint stiffness and rotational angle is proposed. The research not only provides a technical path for the hominine nonlinear characteristics of variable stiffness joints but also provides theoretical support for the subsequent control of maglev variable stiffness joints.