A novel rotary magnetorheological flexible joint with variable stiffness and damping

Dong, Xiaomin; Liu, Weiqi; An, Guopeng; Zhou, Yaqin; Yu, Jianqiang; Lin, Q.

doi:10.1088/1361-665x/aae00e

Cited by 14 publications

(6 citation statements)

References 17 publications

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“…As a new type of mechanical device, MRF dampers and mounts have the ability to provide variable damping (Xu et al, 2018b), mitigate adverse vibration (Dong et al, 2018), and recycle kinetic energy (Wang et al, 2018), and play a key role in many fields (Ha et al, 2018;Lv et al, 2020). For different engineering applications, the development of high-performance MRF dampers and mounts has always been a research hotspot, such as adjusting local structure size, optimizing internal magnetic field, and updating configuration design.…”

Section: Magnetorheological Fluid Dampers and Mounts In Engineering Amentioning

confidence: 99%

A Review on Structural Configurations of Magnetorheological Fluid Based Devices Reported in 2018–2020

Hua

Liu

Li³

et al. 2021

Front. Mater.

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Magnetorheological fluid (MRF) is a kind of smart materials with rheological behavior change by means of external magnetic field application, which has been widely adopted in many complex systems of different technical fields. In this work, the state-of-the-art MRF based devices are reviewed according to structural configurations reported from 2018 to 2020. Based on the rheological characteristic, the MRF has a variety of operational modes, such as flow mode, shear mode, squeeze mode and pinch mode, and has unique advantages in some special practical applications. With reference to these operational modes, improved engineering mechanical devices with MRF are summarized, including brakes, clutches, dampers, and mounts proposed over these 3 years. Furthermore, some new medical devices using the MRF are also investigated, such as surgical assistive devices and artificial limbs. In particular, some outstanding advances on the structural innovations and application superiority of these devices are introduced in detail. Finally, an overview of the significant issues that occur in the MRF based devices is reported, and the developing trends for the devices using the MRF are discussed.

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Section: Magnetorheological Fluid Dampers and Mounts In Engineering Amentioning

confidence: 99%

A Review on Structural Configurations of Magnetorheological Fluid Based Devices Reported in 2018–2020

Hua

Liu

Li³

et al. 2021

Front. Mater.

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“…Greiner-Petter et al [25] used one magneto-rheological fluid damper with two passages and two parallel springs to provide four different levels of system stiffness. Similar variable stiffness devices with magnetorheological fluid dampers and two springs were also documented in [26][27][28]. Apart from the switching between the connection and disconnection of one spring to or from system components, varying the number of active spring coils directly to achieve stiffness variation has also been documented [29,30].…”

Section: Introductionmentioning

confidence: 76%

Numerical and Experimental Investigation of a Semi-Active Vibration Control System by Means of Vibration Energy Conversion

2021

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A vibration control concept based on vibration energy conversion and storage with respect to a serial-stiffness-switch system (4S) has previously been proposed. Here, we first present a rotational electromagnetic serial-stiffness-switch system as a novel practical vibration control system for experimental validation of the concept and, furthermore, an improved control strategy for higher vibration suppression performance is also proposed. The system consists of two spring-switch elements in series, where a parallel switch can block a spring. As an alternating mechanical switch, the experimental system uses two electromagnets with a shared armature. By connecting the armature to the rotating load or the base, the electromagnets decide which of the two spiral springs is blocked, while the other is active. A switching law based on the rotation velocity of the payload is used. Modelling and building of the experimental system were carried out. The corresponding experiment and simulation were executed and they matched well. These results prove that our serial-stiffness-switch system is capable of converting vibration energy and realizing vibration reduction under a forced harmonic disturbance. The effects of disturbance frequency, disturbance amplitude and sampling frequency on the system performance are shown as well. A position feedback control-based switching law is further put forward and experimentally verified to improve the repositioning accuracy of the disturbed system.

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“…The experimental results show that the robot leg have good adaptability when walking on relatively hard terrain, are easy to control, and have a simple structure. Dong et al [22] designed a rotary MR flexible joint with adjustable stiffness and damping to reduce the vibration caused by torque transmission. Through theoretical analysis and experimental verification of the mechanical properties of the joint, it has been shown that the stiffness and damping performance of the joint can be independently controlled, its equivalent stiffness and the damping coefficient can be adjusted between 5.15-12.28 Nm rad −1 and 0.83-3.6 kNs m −1 , respectively.…”

Section: Introductionmentioning

confidence: 99%

Magnetorheological variable stiffness and damping flexible joint with cam working surface for industrial robot

Wu,

Dong,

Yang

2024

Smart Mater. Struct.

Self Cite

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In order to improve the environmental adaptability and interaction safety of industrial robotic arms, a flexible joint with variable damping and stiffness based on magnetorheological (MR) technology was proposed. The mechanical models for variable stiffness and damping of MR flexible joint were established, and the relationship between cam surface and variable stiffness element was derived based on the energy method. Subsequently, the variation patterns of equivalent stiffness and damping of the prototype under different excitations were experimentally tested, and the test results show that its mechanical properties meet the design requirements. To further verify the performance of the MR flexible joint on the robotic arm, we setup a collision buffering test system and investigated the buffering performance of the system under different working conditions. The buffering test results indicate that when the current of variable stiffness element is 2.0 A, the peak collision acceleration of the system after installing the MR flexible joint decreases by about 40.19% compare with the rigid collision.

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A novel rotary magnetorheological flexible joint with variable stiffness and damping

Cited by 14 publications

References 17 publications

A Review on Structural Configurations of Magnetorheological Fluid Based Devices Reported in 2018–2020

A Review on Structural Configurations of Magnetorheological Fluid Based Devices Reported in 2018–2020

Numerical and Experimental Investigation of a Semi-Active Vibration Control System by Means of Vibration Energy Conversion

Magnetorheological variable stiffness and damping flexible joint with cam working surface for industrial robot

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