VARIABLE TRANSMISSION COMPLIANCE WITH AN MR DAMPER

机译：MR阻尼器的变速箱符合性

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This paper presents a novel transmission design that consists of a parallel combination of an MR damper and a compliant element together acting in series with an actuator. By adjusting the magnetic field to vary the amount of damping, the transmission can be switched between compliant and effectively rigid modes. Transmission compliance between an actuator and its load has several benefits: It enables (1) storage of elastic energy to improve efficiency, (2) filtering of shocks acting on the load that would otherwise be transmitted to the actuator, and (3) facilitation of force control by converting it to a position control problem. Despite these benefits, the design objective for most robotic systems remains to minimize transmission compliance to improve transmission bandwidth, improving the ability to control the position of the load with high precision. With the new transmission presented in this paper, compliance becomes a tunable quantity allowing joint stiffness to be optimized based upon the task requirements.

机译：本文提出了一种新颖的变速箱设计，该变速箱设计包括MR阻尼器和顺应元件的并联组合，并与致动器串联。通过调节磁场以改变阻尼量，可以在柔顺模式和有效刚性模式之间切换变速器。执行器与其负载之间的传输顺应性具有几个好处：它使（1）储存弹性能以提高效率；（2）过滤作用在负载上的冲击，否则会传递给执行器，以及（3）促进通过将其转换为位置控制问题来进行强制控制。尽管有这些好处，但大多数机器人系统的设计目标仍然是最小化传输依从性，以提高传输带宽，提高以高精度控制负载位置的能力。借助本文介绍的新型变速箱，柔顺性成为可调参数，可根据任务要求优化接头刚度。

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《AD-vol.69; American Society of Mechanical Engineers(ASME) International Mechanical Engineering Congress and Exposition; 20041113-19; Anaheim,CA(US)》|2004年|P.241-246|共6页
会议地点 AnaheimCA(US)
作者
E.R. Westerveit; J.P. Schmiedeler; G. Washington;
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Dept. of Mechanical Engineering The Ohio State University Columbus, Ohio 43202;

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原文格式 PDF
正文语种 eng
中图分类航空用材料;
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VARIABLE TRANSMISSION COMPLIANCE WITH AN MR DAMPER

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