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中文摘要：
提出了一种基于磁流变液的振动控制阻尼器,实现对柔性机器人关节振动的半主动控制.利用磁流变液在磁场作用下固液转换的快速、连续、可逆性能,提出了一种阻尼力连续可调的振动控制阻尼器的设计方法,建立了其动力学模型,分析了其性能并将其应用于移动防化机器人上,建立了机械手肩关节振动模型并对振动衰减进行了仿真分析.最后,研制了样机并进行了振动控制实验,实验结果验证了所提方法的有效性.
英文摘要：
An MRF（magneto-rheological fluid） based vibration control damper is developed for semi-active vibration control of flexible robot joints.Utilizing the properties of the magneto-rheological fluid that changes state from fluid to solid quickly,continuously and reversibly in magnetic field,a vibration control damper capable of providing a continuously variable damping force is designed.The dynamics model is developed and the performance is analyzed,and then the damper is applied to the anti-chemical mobile robot.The vibration model of shoulder joint of manipulator is developed and vibration attenuation is simulated.The prototype is developed and the vibration control experiment is done in the end.The validity of the method presented is verified by the results.
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