Paper Info
Title
Design method and experiment of robot joint flexible drive based on magnetorheological fluid
Abstract
Traditional high-rigidity robots are difficult to meet the safety of human-machine interaction and the self-adaptability of complex environments. This paper proposed a new design method of variable stiffness flexible actuator for robot joints based on magnetorheological fluid, and completed relevant experiments. The magnetic field simulation results of the magnetorheological flexible actuator were analyzed, and the physical design was optimized to determine the final structure of the magnetorheological flexible actuator. The simulation model of the magnetorheological flexible actuator is established in Matlab/Simulink, so as to obtain the relationship between excitation current and maximum output torque of the magnetorheological flexible actuator. Finally, to analyze the effect of variable stiffness, an experimental prototype and a control system were fabricated to test the maximum torque of flexible actuator under different current. The results of position step test and collision test show that the new type of flexible actuator based on magnetorheological fluid designed realizes the function of variable stiffness, and its control system also meets the requirements.
Year
DOI
Venue
2020
10.1109/CACRE50138.2020.9230351
2020 5th International Conference on Automation, Control and Robotics Engineering (CACRE)
Keywords
DocType
ISBN
robot,magnetorheological fluid,variable stiffness,flexible actuator,control system
Conference
978-1-7281-9889-7
Citations 
PageRank 
References 
0
0.34
0
Authors
4
Name
Order
Citations
PageRank
Wendong Wang182172.69
Hanhao Li200.34
Menghan Xiao300.34
Lei Qin400.34