磁流变阻尼器的液压足式机器人柔顺着陆控制OA

Aiming at the problem that the landing impact of the robot foot is easy to cause the vibration of the fuselage and damage the parts,an impact-resistance design and compliance control methods based on the high power density and fast response ability of the magnetorheological damper are proposed.These measures aim to suppress the landing impact and improve system reliability.Based on the issues of insufficient impact resistance devices and low damping in hydraulic limb-leg units,a multi-stage channel magnetorheological damper with a large weight ratio is designed and connected in series with a hydraulic cylinder to form a hydraulic damping actuator(HDA).This structure can improve the impact resistance of the hydraulic actuator.Then the mechanical properties of the HDA are tested using a universal testing machine,and a dynamic model of the HDA is established.The single-leg drop model of the hydraulic mechanical leg is designed,and the compliant landing control strategy is proposed.Finally,the experimental results show that the compliant landing ability of the hydraulic limb unit is significantly improved.