Modelling and simulation of a new magnetorheological linear device
Modelling and simulation of a new magnetorheological linear device
复制标题
新型磁流变线性装置的建模与仿真
DOI：
10.1109/iris.2015.7451618
复制
发表时间：
2015
期刊：
影响因子：
--
通讯作者：
S. Sugano
中科院分区：
文献类型：
--
作者：
Gonzalo Aguirre Dominguez;Mitsuhiro Kamezaki;Morgan French;S. Sugano
人与机器人之间的互动预计将在未来几年增加。为了保证机器人及其所处环境和周围人员的安全，必须具有鲁棒顺应驱动。机械柔性装置，如磁流变致动器，可以通过其固有特性确保高度的安全性。提出了一种用于直线驱动的新型磁流变活塞的建模方法。采用磁阻法和近似的Buckingham Reiner方程分别建立了电磁和液压方程，并给出了系统的关键参数。通过仿真对新活塞设计的理论性能进行了评价，并与样机的实验数据进行了比较和验证。仿真结果表明了该装置的柔性驱动能力。
Interaction between humans and robots is expected to increase in the coming years. In order to ensure safety for the robot, its environment, and the people around it, it is necessary to have robust compliance actuation. Mechanically compliant devices such as magnetorheological actuators can ensure a high degree of safety through their intrinsic properties. This paper presents the modelling of a new kind of magnetorheological piston intended for linear actuation. An analysis using the reluctance method and an approximation of the Buckingham Reiner equation are used to develop the electromagnetic and hydraulic equations respectively, and key parameters of the system are presented. A simulation is done to evaluate the theoretical performance of the new piston design, its results are compared and validated by the experimental data obtained from a prototype. The simulation results show the capacity of the device for compliant actuation.
用于再现肌肉材料特性的分数阻抗控制及其在体重支撑系统中的应用
DOI：
--
发表时间：
2010
期刊：
影响因子：
--
作者：
Yo Kobayashi;Takao Watanabe;Takeshi Ando;Masatoshi Seki;Masaktsu G.Fujie
通讯作者：
Masaktsu G.Fujie