摘要
分析一种基于磁流变液的振动控制阻尼器在对柔性机器人关节振动的半主动控制,并将其与传统的主动控制及动态吸震器等方法相比,发现其具有在磁场作用下磁流变液固液相转换快速、连续、可逆性能强,能够根据振动情况快速、连续、可逆地调整阻尼力的特点。进行仿真分析与实验分析后,表明该阻尼器控制方法不但不会产生额外的振动,同时体积小、环境适应能力较强,且因其材料的原因,其内部提供的阻尼力连续可调、调整范围较大,具有较好的操作稳定性,在快速、柔性机器人振动控制中具有良好的技术应用前景。
Based on a vibration based on magnetorheologicalfluid damper control in on the vibration of the flexible robot joint ofsemi active control are analyzed, and the traditional active controland dynamic ceiling shock absorber etc. compared with underthe action of magnetic field in the magnetic rheological liquidphase conversion is continuous, rapid, reversible performanceis strong, can according to the vibration rapid, continuous andreversible adjust damping force. After the simulation analysisand experimental analysis shows that the damper control not onlyproduce additional vibration, at the same time, small volume, toadapt to the environment ability is strong, because of its material,it provides the damping force of continuous adjustment, adjustmentrange is large and has good stability, has a good applicationprospect of technology in fast, vibration control of flexible robot.
出处
《现代制造技术与装备》
2016年第5期59-60,共2页
Modern Manufacturing Technology and Equipment
关键词
变液振动
机器人
控制
fluid vibration, robot, control
