{"title":"基于磁流变液的机器人柔性关节设计与实验研究","authors":"Shibo Cai, Pengfei Wang, Liubin Tian, Fang Xu, Libin Zhang","doi":"10.1109/ROBIO.2017.8324711","DOIUrl":null,"url":null,"abstract":"In view of the insufficient of flexibility and safety on the existing rigid robot, and the soft-bodied robot has the defect in the accuracy. In this paper, a robot compliant joint based on MRF (magneto-rheological fluid) is designed, the driving mechanism of the joint is analyzed and a kinematic model is established. The compliant joint is embedded with a magneto-rheological fluid actuator in a conventional robot joint, in order to increase the active compliance control function of the joint. And the safety performance is increased on the basis of the control accuracy. We process a soft joint prototype. Test of the torque output of the MRF transmission, the corner output of the passive rod and the force output were carried out. Experimental results show, Magneto-rheological fluid compliant joints can transfer the force of 0.2N and the response time can be within 200ms.","PeriodicalId":197159,"journal":{"name":"2017 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"39 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2017-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":"{\"title\":\"Design and experimental study of compliant joints of robot based on magneto-rheological fluid\",\"authors\":\"Shibo Cai, Pengfei Wang, Liubin Tian, Fang Xu, Libin Zhang\",\"doi\":\"10.1109/ROBIO.2017.8324711\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"In view of the insufficient of flexibility and safety on the existing rigid robot, and the soft-bodied robot has the defect in the accuracy. In this paper, a robot compliant joint based on MRF (magneto-rheological fluid) is designed, the driving mechanism of the joint is analyzed and a kinematic model is established. The compliant joint is embedded with a magneto-rheological fluid actuator in a conventional robot joint, in order to increase the active compliance control function of the joint. And the safety performance is increased on the basis of the control accuracy. We process a soft joint prototype. Test of the torque output of the MRF transmission, the corner output of the passive rod and the force output were carried out. Experimental results show, Magneto-rheological fluid compliant joints can transfer the force of 0.2N and the response time can be within 200ms.\",\"PeriodicalId\":197159,\"journal\":{\"name\":\"2017 IEEE International Conference on Robotics and Biomimetics (ROBIO)\",\"volume\":\"39 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2017-12-01\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"0\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"2017 IEEE International Conference on Robotics and Biomimetics (ROBIO)\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/ROBIO.2017.8324711\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"2017 IEEE International Conference on Robotics and Biomimetics (ROBIO)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ROBIO.2017.8324711","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
Design and experimental study of compliant joints of robot based on magneto-rheological fluid
In view of the insufficient of flexibility and safety on the existing rigid robot, and the soft-bodied robot has the defect in the accuracy. In this paper, a robot compliant joint based on MRF (magneto-rheological fluid) is designed, the driving mechanism of the joint is analyzed and a kinematic model is established. The compliant joint is embedded with a magneto-rheological fluid actuator in a conventional robot joint, in order to increase the active compliance control function of the joint. And the safety performance is increased on the basis of the control accuracy. We process a soft joint prototype. Test of the torque output of the MRF transmission, the corner output of the passive rod and the force output were carried out. Experimental results show, Magneto-rheological fluid compliant joints can transfer the force of 0.2N and the response time can be within 200ms.
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