Design Of Robot Foot Vibration Isolator Based On Magnetorheological Elastome

At present,the legs of humanoid robots mostly adopt rigid structures.Although they have good strength and are easy to assemble,in the process of walking,running and jumping,the feet will collide with the ground in the landing process,so that the legs and even the body will be subjected to a certain degree of vibration from bottom to top.It has certain influence on the normal operation of the internal sensing and vision system and the walking stability of the humanoid robot.Meanwhile,with the increase of the number of times,it will cause serious damage to the joints,servo motors and other weak structures.Therefore,this paper designs a semi-active vibration isolation method based on this problem.The specific research contents are as follows:(1)Aiming at the problem of vibration buffering and damping of humanoid robot,Through the inverted pendulum model,gait planning is carried out for the three stages of starting,middle step and stopping in the forward and lateral planes.Then,dynamic simulation is carried out through ADAMS to verify the rationality of gait,and the foot to ground contact force signal of humanoid robot is obtained.(2)Preparation and test for the vibration control of a robot,the high magnetic rheological effect of magnetorheological elastomers,explores the frequency,the influence of strain modulus of magnetorheological elastomers,designed a complex two-way MRE vibration isolator,and from the structural design,material selection and electromagnetism simulation analysis of three aspects has carried on the detailed design studies.(3)A test platform for vertical and horizontal dynamic mechanical performance of the isolator was built,and the dynamic performance of MRE isolator was tested and analyzed under different impressed current,excitation frequency and excitation amplitude,which laid a foundation for the study of dynamic model and vibration isolation control.(4)Aiming at the gait process of humanoid robot,a dynamic model of vibration isolation system was established,and three control algorithms of fuzzy,PID and fuzzy PID were designed to control the dynamic model,which verified the vibration isolation performance of MRE for the robot foot vibration signal.Finally,a control experiment platform based on d SPACE was built to test the vibration control effect under sinusoidal excitation model,and verify the feasibility of MRE isolator and control algorithm.