Cited time in webofscience Cited time in scopus

Magnetorheological damper for vibration reduction in a robot arm

Title
Magnetorheological damper for vibration reduction in a robot arm
Author(s)
Yun, DongwonPark, ChanhunPark, DongilKim, Hwi-su
Issued Date
2022-11
Citation
Intelligent Service Robotics, v.15, no.5, pp.671 - 678
Type
Article
Author Keywords
RobotMagnetorheological fluidRescue robotDual-arm robotShock vibration
Keywords
CONTROLLER
ISSN
1861-2776
Abstract
In this study, we develop a novel damper prototype for robot manipulators of a mobile robot to perform rescue operations in extreme environments like battlefields. Shock vibrations occur when such robots drive over rugged terrain, adversely affecting both the robot and the rescued person. We propose a joint module that utilizes magnetorheological (MR) fluid to depress environmental impact vibrations. To do this, we first suggest a novel structure for our MR damper, with multiple working coils to augment the magnetic field intensity for the given volume; then, we perform dynamic simulations on the manipulator with the suggested MR damper installed, examining vertical impact acceleration and the driving torque generated in the joint module. The proposed damper can best reduce the amplitude of vibrations by about 90% at 21 Hz and by about 30% at the system’s resonant frequency of 22 Hz, which are the frequencies of interest as those lie around the natural frequency of the robot arm. © 2022, The Author(s), under exclusive licence to Springer-Verlag GmbH Germany, part of Springer Nature.
URI
http://hdl.handle.net/20.500.11750/17002
DOI
10.1007/s11370-022-00445-3
Publisher
Springer Verlag
Related Researcher
  • 윤동원 Yun, Dongwon
  • Research Interests Biomimetic Robot; Soft Robotics; Robot elementary technology : Sensors and actuators; Study on the medical application; Study on the industrial application
Files in This Item:

There are no files associated with this item.

Appears in Collections:
Department of Robotics and Mechatronics Engineering Bio Robotics and Mechatronics Laboratory 1. Journal Articles

qrcode

  • twitter
  • facebook
  • mendeley

Items in Repository are protected by copyright, with all rights reserved, unless otherwise indicated.

BROWSE