基于磁流变剪切增稠阻尼器的柔性机械臂振动抑制研究OA

Aiming at the significant vibration problems of flexible manipulators caused by the structural flexibility during operation,a novel intelligent damper based on Magnetorheological Shear Thickening Fluid(MRSTF)was proposed.The MRSTF material combines the nonlinear rheological behavior of Shear Thickening Fluid(STF)with the controllable damping characteristics of Magnetorheological Fluid(MRF)to realize precise control of the damping force through regulating the applied magnetic field.A mechanical model was developed for the damper based on MRSTF material property,and its performance was verified through rigorous fatigue testing.Simultaneously,the damper was integrated into the flexible manipulator model,and simulation analysis was conducted to evaluate its vibration attenuation effectiveness in detail.Additionally,an experimental platform was built for verification.The experimental results show that,compared with conventional MR dampers,the MRSTF damper exhibits superior performance in reducing the amplitude of residual vibrations and shortening the steady-state time.Its controllable damping characteristics significantly enhance the dynamic stability and control precision of the flexible manipulators.