Distributed active/passive hybrid cable drive system

A distributed active/passive hybrid cable drive system, comprising a direct current motor (1), a motor output gear (2), a plurality of drive gear sets, and a plurality of magnetorheological actuator modules, wherein the direct current motor is separately connected to each drive gear set for driving, and each drive gear set is linked to the corresponding magnetorheological actuator module;

• each drive gear set comprises a motor drive gear (3), a drive shaft (4), and a magnetorheological drive gear (5), the motor output gear (2) is connected to an output end of the direct current motor (1), the motor output gear (2) is meshed with the corresponding motor drive gear (3), the motor drive gear (3) is installed on the drive shaft (4), and the drive shaft (4) is provided with a plurality of magnetorheological drive gears (5);
• and
• each magnetorheological actuator module comprises a module frame (7), and a rotary magnetorheological actuator (8), an output reel (9), and a magnetorheological input gear (10) that are installed in the module frame (7);
• the magnetorheological input gear (10) is fixed on the rotary magnetorheological actuator (8) and is capable of rotating around the module frame (7), the magnetorheological input gear (10) is meshed with the corresponding magnetorheological drive gear (5), an output end of the rotary magnetorheological actuator (8) is fixedly connected to the output reel (9), output torque of the output reel (9) is resulted by damping of the magnetorheological actuator (8), the output reel (9) pulls a cable (12) connected to the output reel, and the cable (12) receives power and transmits the power along a Bowden cable (13) to a controlled object at a tail end, to control the controlled object (14).