The Basic Study On Semi-active Control Of Damping Controlled To Serial Robot

In recent years, serial robot represented by industrial robot has got a wide range of applications. Especially in highly automated production line, serial robot has become an important way to replace monotonous labor, increase production efficiency and product quality. With the gradual application in aerospace, precision manufacturing, and other areas, lightweight, high-speed, and high mobility will become an important development direction of serial robot. But the resulting problems, such as low-frequency mechanical vibration and the loss of positioning, are becoming the bottleneck for this kind of serial robot to development.This paper uses MR damper to do vibration control of the serial robot experimental model through researching the semi-active control method and control algorithm, which is based on the mathematics model of 3-DOF serial robot, as well as studying dynamic model and dynamic response of MR damper. This work mainly consists of the following aspects:(1) Based on the widely read documents, this paper narrates the basics of vibration control, and ascertains the semi-active control method and its algorithm to control vibration of serial robot;(2) 3-DOF Serial robot experimental model designed is modeled, and the relationship between the vertical vibration and damping coefficient of the model is got through mathematical method;(3) This paper does a study of the magnetic effect of MR fluid damper and the work pattern and dynamic model of MR damper, discusses the relationship of the main parameters of MR damper, and then determines the relationship between the damper damping coefficient and input current by fitting method of data;(4) According to the 3-DOF serial robot the mathematics model and MR damper dynamic model, this paper builds the Simulink simulation block diagram of control system, proceeds the robot model's control simulation through the two-state control and fuzzy control, and compares the control effect of these two control algorithms;(5) The experimental study of vibration semi-active control system of the serial robot test model is done to verify the control effect.