High-speed and high-accuracy magneto-rheological grease flexible manipulator connection rod and multi-connection-rod manipulator system

Abstract

The invention discloses a high-speed and high-accuracy magneto-rheological grease flexible manipulator connection rod which comprises a connection rod body, wherein a central through hole is arranged in the connection rod body, a magneto-rheological grease flow passage is arranged in the central through hole, magneto-rheological grease is filled in the magneto-rheological grease flow passage, and parallelly-connected magnet exciting coils are arranged between the outer wall of the magneto-rheological grease and the inner wall of the central through hole and used for generating a magnet exciting field in the magneto-rheological grease passage. The invention further discloses a high-speed and high-accuracy magneto-rheological grease flexible multi-connection-rod manipulator system which comprises a tail end hand grab, at least two manipulator connection rods and a power supply device for supplying power to the magnet exciting coils arranged in the manipulator connection rods, wherein the two connected manipulator connection rods are hinged together through hinge shafts, the manipulator connection rods are coupled with the hinge shafts through magneto-rheological grease, a driving vibration controllable device for driving the manipulator connection rods to move is arranged between two manipulator connection rods, and the tail end hand grab is installed on the manipulator connection rod at the end.

Description

technical field [0001] The invention belongs to the technical field of manipulators, and in particular relates to a high-speed and high-precision magnetorheological grease flexible manipulator connecting rod and a high-speed and high-precision magnetorheological grease flexible multi-link manipulator system using the connecting rod. Background technique [0002] Compared with traditional rigid manipulators, lightweight flexible manipulators have the characteristics of flexible movement, low energy consumption and high load / body mass ratio, and have been widely used in aviation, aerospace, space robots and industrial occasions. However, the flexible manipulator is prone to vibration during the working process. The effective driving and precise positioning of the flexible manipulator is a hot research issue at present. Vibration Control of Driven Flexible Manipulators" describes the vibration control of flexible manipulators. [0003] The flexibility characteristics of the ma...

AI Technical Summary

Problems solved by technology

[0005] Among them, the hydraulic arm frame is a commonly used basic component in large-scale robots. However, due to the large structural size and large end load, the inherent elasticity of the hydraulic arm frame components has a considerable impact on its dynamic characteristics.

In addition, unlike the electric transmission, the hydraulic cylinder cannot be placed at the joint of the connecting rod, and its displacement and joint rotation angle have a nonlinear relationship. Coupled with the mutual coupling between the multi-links, the control system becomes a multi-input / multi-output ( MIMO) nonlinear system, its "relative degree" (relative degree) is greater than 3, which increases the difficulty of controller design, plus the existence of many uncertain factors (such as the load at the end of the hydraulic arm, the parameters of the hydraulic system, non-linear Linear interference, etc.), making it very difficult to accurately control the position of the multi-link flexible manipulator, both in theory and in practice

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