设计,动态建模和测试一种新型的MR阻尼器,用于在风力负荷下安装有线登机器人的登机器人
Kaiwei Ma1, Fengyu Xu1, Yangru Zhou2
1College of Automation and College of Artificial Intelligence, Nanjing University of Posts and Telecommunications, Nanjing, 210023, Jiangsu, China; Jiangsu Engineering Center for Internet of Things and Intelligent Robotics, Nanjing, 210023, Jiangsu, China.
ISA transactions
|November 16, 2024
概括
这项研究开发了一种新型的磁石学 (MR) 阻尼器,以改进桥梁施工机器人.
科学领域:
- 机器人技术 机器人技术 机器人技术
- 机械工程 机械工程
- 材料科学 材料科学 材料科学
背景情况:
- 桥梁施工设备需要在高海拔环境中提高适应能力.
- 现有的爬机器人在变化条件下面临着稳定性和控制方面的挑战.
- 磁铁解热学 (MR) 阻尼器为动态系统提供可控制的阻尼性能.
研究的目的:
- 设计和评估一款用于有线登机器人的新型MR阻尼器.
- 提高建筑设备在高海拔环境中的适应性和登稳定性.
- 建立一种快速选择MR阻尼器最佳工作电流的方法.
主要方法:
- 开发了一种新型的弹-MR流体阻尼器,配有三个磁电路单元.
- 使用汉密尔顿原理制定机器人-电缆-风合动态模型.
- 实验验证MR阻尼器的性能及其对机器人登的影响.
主要成果:
- 模拟的MR阻尼器最大输出力达到了204.60N.
- 最佳工作电流被确定为0.2 A (力4) 和0.4 A (力7).
- 实验测试显示,对于减压力,平均相对误差为4.60%.
- 安装机器人表现出控制的爬升速度 (0.66毫米/秒),平均相对误差低 (0.78%) 和最大 (2.5%).
结论:
- 新型的MR阻尼器有效地提高了机器人的爬稳定性.
- 开发的方法可以快速选择MR阻尼器的最佳工作电流.
- 这项技术显著提高了桥梁施工设备在高海拔环境中的适应性.
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