Abstract:As a kind of semi-active devices which can generate damping force effectively and dissipate movement energy, rotary magnetorheological damper (RMRD) is more conducive to play a role than linear magnetorheological damper (LMRD) in the narrow work space because of its compact design, light weight, easy maintenance, less dosage of MRF, durability and other characteristics. In this paper, the working principle of RMRD is introduced, the structural design of continuous angle RMRD and limited angle RMRD are analyzed in detail. At the same time, the innovative design of drum RMRD with planetary gear train by our research group is also introduced. The relevant results can provide the guidance for the applications of RMRD.