Hydraulic mechanical arm based on magnetorheological damper vibration reduction and control method thereof

Abstract

The present application relates to a kind of hydraulic mechanical arm based on magnetorheological damper vibration reduction and its control method, the hydraulic mechanical arm is composed of several hydraulic damping arms and bottom plate in series, hydraulic damping arm is composed of metal arm plate and integrated hydraulic damping unit, integrated hydraulic damping unit includes hydraulic cylinder and magnetorheological damper, hydraulic cylinder is used to drive hydraulic mechanical arm action, magnetorheological damper is used to inhibit the vibration generated by hydraulic mechanical arm action.The present application applies integrated hydraulic damping unit containing magnetorheological damper to hydraulic mechanical arm, realizes the mechanical arm damping while driving mechanical arm, with fast response, high precision and real-time continuous adjustable damping force;The damping force comprehensive regulation and control damping control method of hydraulic mechanical arm is based on the comprehensive magnetorheological damper expected damping force obtained from the two ideal targets of hydraulic cylinder force balance and system motion error 0, so that this control method considers system force balance and high-precision motion, can realize accurate and efficient mechanical arm damping.

Description

Technical Field

[0001] This invention relates to the field of vibration reduction technology for hydraulic robotic arms, specifically to a hydraulic robotic arm based on magnetorheological dampers and its control method. Background Technology

[0002] With the continuous improvement of automation levels in manufacturing, hydraulically driven robotic arms have been widely used in actual production. Hydraulic robotic arms can adapt to various working environments, especially in harsh conditions, where they can replace manual labor to complete repetitive and heavy tasks. However, during startup and braking, hydraulic robotic arms are often subjected to vibrations caused by impacts from the hydraulic system and mechanical components. This is particularly true for three-degree-of-freedom (DOF) and higher-DOF hydraulic robotic arms, where the shift in the overall center of gravity during extended movements under load easily leads to overall vibration. Vibration not only affects the smoothness of the robotic arm's operation and makes precise control difficult, resulting in decreased work quality, but also increases fatigue wear and reduces its service life. Therefore, vibration suppression and improved smoothness are crucial for improving the work quality and service life of hydraulic robotic arms.

[0003] Magnetorheological fluids are intelligent materials that can change their properties under the influence of an external magnetic field, producing a reversible and controllable magnetorheological effect. Their research and application have attracted widespread attention. Among them, magnetorheological dampers are a new type of damper developed based on the characteristics of magnetorheological fluids. They offer advantages such as simple structure and control, fast response speed, low energy consumption, and real-time continuous adjustment of damping force. Magnetorheological dampers can adjust the output damping force in real time according to the input current, which can be controlled based on the actual displacement velocity of the actuator and the required damping force under operating conditions. Connecting magnetorheological dampers with other actuators, such as hydraulic cylinders, to form an integrated hydraulic vibration reduction unit can increase space utilization, achieve a high force-to-weight ratio, and improve working efficiency. Magnetorheological fluids and magnetorheological dampers are widely used in automotive engineering, civil engineering, and aerospace fields.

[0004] While current vibration suppression and control methods for hydraulic robotic arms offer some solutions, shortcomings and limitations remain. Traditional vibration reduction schemes suffer from uncontrollable damping and slow response. Furthermore, magnetorheological damper control methods suffer from inaccurate and incomplete calculations of the expected damping force, leading to poor control performance. These shortcomings mainly include the following:

[0005] 1. Regarding vibration reduction solutions for hydraulic robotic arms, current research directions include: improving and optimizing the hydraulic system, using accumulators, and designing hydraulic buffer systems to control hydraulic shocks; using viscoelastic composite materials to generate damping for passive vibration control; and improving trajectory planning or actively offsetting and mitigating vibration by observing vibration frequencies and driving hydraulic cylinder movement. Each of these solutions has drawbacks such as unsatisfactory effects, uncontrollable damping, and slow response. For example, the master's thesis "Research on Vibration Suppression Methods of Vehicle-Mounted Hydraulic Robotic Arm Amplitude Variable System" designed a hydraulic damping network to filter the control pressure, weakening pressure fluctuations and thus suppressing the vibration of the hydraulic robotic arm. However, this method suffers from high energy consumption and an inability to directly and quickly respond to vibrations.

[0006] 2. Regarding control methods for magnetorheological dampers (MRDs), current control methods mainly include ceiling damping control, fuzzy control, and neural network control. However, for multi-degree-of-freedom robotic arms using MRDs for vibration reduction, current methods largely limit the calculation of the desired damping force—the core design aspect of vibration reduction—to one of the following: the robotic arm's dynamic model, force sensors detecting the force on the robotic arm, or displacement sensors detecting the displacement of the hydraulic cylinder piston rod. They fail to comprehensively consider system force balance and motion accuracy, leading to insufficient precision in robotic arm vibration reduction control. For example, Chinese patent application number 201710583259.7 uses vibration sensors to detect vibration and generate feedback signals to control the MRD, adjusting its output force and stiffness. However, this method only calculates the desired damping force of the MRD based on the vibration displacement velocity signal, lacking sufficient consideration of system force balance. In the master's thesis "Design of Robot Foot Vibration Isolator Based on Magnetorheological Elastomer," the corresponding vibration and impact signals are first obtained by combining the foot contact force curve with the MRE vibration isolator dynamic model. Subsequently, a fuzzy PID controller was used to control the MRE vibration isolator, which effectively reduced vibration in the robot. However, because the expected damping force of the damping unit was only obtained based on vibration and impact signals and lacked consideration of system motion errors, this control method suffered from insufficient overall motion control accuracy. Summary of the Invention

[0007] The purpose of this invention is to provide a hydraulic robotic arm based on magnetorheological damper vibration reduction and its control method, which can achieve precise and efficient vibration reduction of the hydraulic robotic arm.

[0008] To achieve the above objectives, the technical solution adopted by the present invention is: a hydraulic robotic arm based on magnetorheological damper vibration reduction, wherein the hydraulic robotic arm is composed of several hydraulic damping arms connected in series with a base plate, the hydraulic damping arm is composed of a metal arm plate and an integrated hydraulic vibration reduction unit, the integrated hydraulic vibration reduction unit includes a hydraulic cylinder and a magnetorheological damper, the hydraulic cylinder is used to drive the hydraulic robotic arm to move, and the magnetorheological damper is used to suppress the vibration generated by the movement of the hydraulic robotic arm.

[0009] Furthermore, the hydraulic robotic arm includes a base plate support frame, a base plate, a robotic arm support frame, a first hydraulic damping arm, a second hydraulic damping arm, a third hydraulic damping arm, and an end effector; the base plate is fixedly connected to the base plate support frame, the robotic arm support frame is fixedly connected to the base plate, the rear end of the first hydraulic damping arm is hinged to the robotic arm support frame, the rear end of the second hydraulic damping arm is hinged to the front end of the first hydraulic damping arm, the rear end of the third hydraulic damping arm is hinged to the front end of the second hydraulic damping arm, and the end effector is fixedly connected to the front end of the third hydraulic damping arm;

[0010] Each hydraulic damping arm includes a metal arm plate and an integrated hydraulic damping unit. The front end of the integrated hydraulic damping unit of each hydraulic damping arm is hinged to the metal arm plate, and the rear end is hinged to the metal arm plate of the other hydraulic damping arm behind it. The rear end of the integrated hydraulic damping unit of the last hydraulic damping arm is hinged to the robotic arm support frame. The integrated hydraulic damping unit includes a displacement sensor module, a hydraulic cylinder, a common end cap, and a built-in valve-type magnetorheological damper. The hydraulic cylinder and the built-in valve-type magnetorheological damper are connected in series through the same piston rod and isolated by the common end cap. The hydraulic cylinder cavity is filled with hydraulic oil, and the built-in valve-type magnetorheological damper cavity is filled with magnetorheological fluid. The signal transmitting and receiving parts of the displacement sensor module are respectively located on the hydraulic cylinder and the piston rod, and are used to detect the actual displacement of the piston rod.

[0011] The present invention also provides a control method for the above-mentioned hydraulic robotic arm based on magnetorheological damper vibration reduction, comprising the following steps:

[0012] Step S1. Input the displacement signal error of the hydraulic cylinder piston rod in the hydraulic robotic arm to the hydraulic cylinder PID controller, and control the hydraulic cylinder to drive the hydraulic robotic arm to perform actions through the servo valve;

[0013] Step S2. Establish a dynamic model of the robotic arm, obtain the torque generated by the hydraulic robotic arm through motion, and calculate the load force F on the hydraulic cylinder through torque-force conversion. D ;

[0014] Step S3. Establish the force balance equation for the hydraulic cylinder;

[0015] Step S4. Establish a system motion state discriminant based on the system's steady state;

[0016] Step S5. Combine the hydraulic cylinder force balance equation established in step S3 with the system motion state discriminant established in step S4 to obtain the desired output damping force F of the magnetorheological damper with the ideal objective of hydraulic cylinder force balance and system motion error of 0. M0 ;

[0017] Step S6. The desired output damping force F of the damper M0 The input is fed to the damper PID controller, which then outputs a signal to the nonlinear compensator. After nonlinear compensation, the output current signal I0 is sent to the control rule filter, and finally, the control current I is output to the magnetorheological damper, causing the magnetorheological damper to output a damping force F. M It acts on the hydraulic cylinder to suppress system vibration.

[0018] Furthermore, the expression for the hydraulic cylinder force balance equation established in step S3 is as follows:

[0019]

[0020] Where A is the effective area of ​​the hydraulic cylinder oil chamber; p1 and p2 are the pressures of the left and right chambers of the hydraulic cylinder, respectively; m is the total mass of the hydraulic cylinder piston and external load referred to the hydraulic cylinder piston; B is the viscous damping coefficient of the hydraulic cylinder; K is the load elastic stiffness of the hydraulic cylinder; x, These are the actual displacement, velocity, and acceleration of the hydraulic cylinder piston rod, respectively.

[0021] Furthermore, the system motion state discriminant established in step S4 requires the hydraulic cylinder piston rod to satisfy the following condition in order to ensure that the system motion error is zero:

[0022] W·E=0

[0023] Where W is the weight matrix, E is the error vector.

[0024] Where k1 and k2 are constants and k1>0, k2>0; e, These are the displacement error, velocity error, and acceleration error of the hydraulic cylinder piston rod, respectively, and their expressions are as follows:

[0025] e = x d -x

[0026]

[0027]

[0028] Where, x d , These represent the desired displacement, velocity, and acceleration of the hydraulic cylinder piston rod, respectively.

[0029] Furthermore, in step S5, the magnetorheological damper, with the ideal objective of achieving hydraulic cylinder force balance while simultaneously minimizing system motion error, is expected to output a damping force F. M0 The expression is:

[0030]

[0031] Furthermore, in step S6, the filtering rule of the control rule filter is: the displacement error e of the hydraulic cylinder piston rod and the speed error of the hydraulic cylinder piston rod. When the signs are the same, the output current signal I = I0, the hydraulic cylinder piston rod displacement error e and the hydraulic cylinder piston rod speed error When the signs are opposite, the output current signal I = 0.

[0032] Compared with the prior art, the present invention has the following beneficial effects:

[0033] 1. This invention utilizes magnetorheological dampers for vibration reduction in multi-degree-of-freedom hydraulic robotic arms. The damper is integrated with a hydraulic cylinder to form a unified hydraulic vibration reduction unit, which is further combined with the robotic arm to create a hydraulic damping arm. Multiple hydraulic damping arms are connected in series to drive the robotic arm's movements and suppress vibrations generated by the arm's motion. This improves upon the problems of easy vibration and difficulty in precise control in multi-degree-of-freedom hydraulic robotic arms, achieving fast response, high precision, and real-time continuous adjustment of damping force for vibration reduction in hydraulic robotic arms.

[0034] 2. The design of the damping force comprehensive regulation and vibration reduction control strategy in this invention involves establishing a dynamic model of the robotic arm, a discriminant equation for the system motion state, and a hydraulic cylinder force balance equation. From these, the desired damping force of the comprehensive magnetorheological damper is obtained based on two ideal objectives: hydraulic cylinder force balance and zero system motion error. By controlling the displacement of the hydraulic cylinder piston rod and the output damping force of the magnetorheological damper, the damping force under the comprehensive regulation and vibration reduction control of the magnetorheological damper is ensured, while the hydraulic robotic arm completes its normal working actions. This achieves precise and efficient control of the robotic arm. Attached Figure Description

[0035] Figure 1 This is a schematic diagram of the overall structure of the hydraulic robotic arm according to an embodiment of the present invention;

[0036] Figure 2 This is a schematic diagram of the integrated hydraulic vibration damping unit in an embodiment of the present invention;

[0037] Figure 3 This is a cross-sectional view of the integrated hydraulic vibration damping unit in an embodiment of the present invention;

[0038] Figure 4 This is a block diagram of the control method according to an embodiment of the present invention;

[0039] In the diagram: 1. Base plate support frame, 2. Base plate, 3. Robotic arm support frame, 4. First hydraulic damping arm, 5. Second hydraulic damping arm, 6. Third hydraulic damping arm, 7. End effector, 51. Metal arm plate, 52. Integrated hydraulic vibration damping unit, 521. Displacement sensor module, 522. Hydraulic cylinder, 523. Common end cap, 524. Built-in valve-type magnetorheological damper, 525. Piston rod, 526. Force sensor for position detection. Detailed Implementation

[0040] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0041] It should be noted that the following detailed descriptions are exemplary and intended to provide further explanation of this application. Unless otherwise specified, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains.

[0042] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the exemplary embodiments according to this application. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0043] This invention provides a hydraulic robotic arm based on magnetorheological damper vibration reduction. The hydraulic robotic arm is composed of several hydraulic damping arms connected in series with a base plate. Each hydraulic damping arm consists of a metal arm plate and an integrated hydraulic vibration reduction unit. The integrated hydraulic vibration reduction unit includes a hydraulic cylinder and a magnetorheological damper. The hydraulic cylinder is used to drive the hydraulic robotic arm to move, and the magnetorheological damper is used to suppress the vibration generated by the movement of the hydraulic robotic arm.

[0044] like Figure 1-3 As shown, in this embodiment, the hydraulic robotic arm includes a base plate support frame 1, a base plate 2, a robotic arm support frame 3, a first hydraulic damping arm 4, a second hydraulic damping arm 5, a third hydraulic damping arm 6, and an end effector 7. The base plate 2 is fixedly connected to the base plate support frame 1, the robotic arm support frame 3 is fixedly connected to the base plate 2, the rear end of the first hydraulic damping arm 4 is hinged to the robotic arm support frame 3, the rear end of the second hydraulic damping arm 5 is hinged to the front end of the first hydraulic damping arm 4, the rear end of the third hydraulic damping arm 6 is hinged to the front end of the second hydraulic damping arm 5, and the end effector 7 is fixedly connected to the front end of the third hydraulic damping arm 6.

[0045] Each hydraulic damping arm includes a metal arm plate 51 and an integrated hydraulic damping unit 52. The front end of the integrated hydraulic damping unit of each hydraulic damping arm is hinged to the metal arm plate, and the rear end is hinged to the metal arm plate of the other hydraulic damping arm behind it. The rear end of the integrated hydraulic damping unit of the last hydraulic damping arm is hinged to the robotic arm support frame. The integrated hydraulic damping unit 52 includes a displacement sensor module 521, a hydraulic cylinder 522, a common end cap 523, and a built-in valve-type magnetorheological damper 524. The hydraulic cylinder 522 and the built-in valve-type magnetorheological damper 524 are connected in series through the same piston rod 525, and their cavities are isolated by the common end cap 523. The cavity of the hydraulic cylinder 522 is filled with hydraulic oil, and the cavity of the built-in valve-type magnetorheological damper 524 is filled with magnetorheological fluid. The signal transmitting and receiving parts of the displacement sensor module 521 are respectively located on the hydraulic cylinder 522 and the piston rod 525.

[0046] like Figure 4 As shown, this embodiment also provides a comprehensive damping control method for the hydraulic robotic arm based on magnetorheological damper vibration reduction, including the following steps:

[0047] Step S1. Input the displacement signal error of the hydraulic cylinder piston rod in the hydraulic robotic arm to the hydraulic cylinder PID controller, and control the hydraulic cylinder to drive the hydraulic robotic arm to perform actions through the servo valve.

[0048] Specifically, the desired trajectory signal of the robotic arm end effector is converted into the desired displacement signal x of the piston rod of the hydraulic cylinder in each of the three robotic arms. d The values ​​are then input into their respective controllers for driving actions. Furthermore, the feedback signal from the hydraulic cylinder PID controller, i.e., the actual displacement signal x of the hydraulic cylinder piston rod, is provided by the displacement sensor module in the integrated hydraulic vibration damping unit. The difference between the actual displacement signal and the desired displacement signal of the hydraulic cylinder piston rod is the aforementioned hydraulic cylinder piston rod displacement signal error.

[0049] Step S2. Establish a dynamic model of the robotic arm, obtain the torque generated by the hydraulic robotic arm through motion, and calculate the load force F on the hydraulic cylinder through torque-force conversion. D .

[0050] The displacement data of the three hydraulic cylinders are collected by displacement sensors, and the displacement, velocity, and acceleration data of the hydraulic cylinder piston rods are obtained. Combined with the inherent parameters of the robotic arm, the torque of each of the three arm joints is calculated. The equivalent force F applied to the piston rod of each hydraulic cylinder is calculated using the formula torque = force × lever arm. D .

[0051] Step S3. Establish the hydraulic cylinder force balance equation.

[0052] Specifically, the expression for the established hydraulic cylinder force balance equation is as follows:

[0053]

[0054] Where A is the effective area of ​​the hydraulic cylinder oil chamber; p1 and p2 are the pressures of the left and right chambers of the hydraulic cylinder, respectively; m is the total mass of the hydraulic cylinder piston and external load referred to the hydraulic cylinder piston; B is the viscous damping coefficient of the hydraulic cylinder; K is the load elastic stiffness of the hydraulic cylinder; x, These are the actual displacement, velocity, and acceleration of the hydraulic cylinder piston rod, respectively.

[0055] Step S4. Establish a system motion state discriminant based on the system's steady state.

[0056] Specifically, to ensure that the system motion error is zero, the hydraulic cylinder piston rod should meet the following requirements:

[0057] W·E=0

[0058] Where W is the weight matrix, E is the error vector.

[0059] Where k1 and k2 are constants and k1>0, k2>0; e, These are the displacement error, velocity error, and acceleration error of the hydraulic cylinder piston rod, respectively, and their expressions are as follows:

[0060] e = x d -x

[0061]

[0062]

[0063] Where, x d , These represent the desired displacement, velocity, and acceleration of the hydraulic cylinder piston rod, respectively.

[0064] Step S5. Combine the hydraulic cylinder force balance equation established in step S3 with the system motion state discriminant established in step S4 to obtain the desired output damping force F of the magnetorheological damper with the ideal objective of hydraulic cylinder force balance and system motion error of 0. M0 .

[0065] Specifically, the magnetorheological damper is expected to output a damping force F. M0 The expression is:

[0066]

[0067] The desired damping force of the magnetorheological damper obtained by this method is a comprehensive desired damping force based on the simultaneous satisfaction of two ideal objectives: zero system motion error and hydraulic cylinder force balance.

[0068] Step S6. The desired output damping force F of the damper M0 The input is fed to the damper PID controller, which then outputs a signal to the nonlinear compensator. After nonlinear compensation, the output current signal I0 is sent to the control rule filter, and finally, the control current I is output to the magnetorheological damper, causing the magnetorheological damper to output a damping force F. M It acts on the hydraulic cylinder to suppress system vibration.

[0069] In this embodiment, Figure 2 The force sensor is located at position 526, where it is mounted on the front end of the hydraulic cylinder piston rod. The feedback signal from the damper PID controller is the external load force F of the integrated hydraulic damping unit detected by the force sensor at position 526. L The force F obtained by detecting the pressure difference of the hydraulic cylinder p Through formula The calculated actual output force F of the magnetorheological damper M supply.

[0070] The filtering rule of the control rule filter is: the displacement error e of the hydraulic cylinder piston rod and the speed error of the hydraulic cylinder piston rod. When the signs are the same, the output current signal I = I0, the hydraulic cylinder piston rod displacement error e and the hydraulic cylinder piston rod speed error When the signs are opposite, the output current signal I = 0.

[0071] This invention provides a hydraulic robotic arm based on magnetorheological damper vibration reduction and its integrated damping force control method. The invention applies an integrated hydraulic vibration reduction unit containing a magnetorheological damper to a hydraulic robotic arm, achieving fast response, high precision, and real-time continuous adjustment of the damping force while driving the robotic arm. The integrated damping force control method of the integrated hydraulic vibration reduction unit uses the desired damping force of the magnetorheological damper, obtained based on two ideal objectives: hydraulic cylinder force balance and zero system motion error. This allows the control method to balance system force and achieve high-precision motion, resulting in precise and efficient robotic arm vibration reduction.

[0072] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention in any other way. Any person skilled in the art may make changes or modifications to the above-disclosed technical content to create equivalent embodiments. However, any simple modifications, equivalent changes, and modifications made to the above embodiments based on the technical essence of the present invention without departing from the scope of the present invention shall still fall within the protection scope of the present invention.

Claims

1. A control method for a hydraulic robotic arm based on magnetorheological damper vibration reduction, characterized in that, The hydraulic robotic arm includes a base plate support frame, a base plate, a robotic arm support frame, a first hydraulic damping arm, a second hydraulic damping arm, a third hydraulic damping arm, and an end effector; the base plate is fixedly connected to the base plate support frame, the robotic arm support frame is fixedly connected to the base plate, the rear end of the first hydraulic damping arm is hinged to the robotic arm support frame, the rear end of the second hydraulic damping arm is hinged to the front end of the first hydraulic damping arm, the rear end of the third hydraulic damping arm is hinged to the front end of the second hydraulic damping arm, and the end effector is fixedly connected to the front end of the third hydraulic damping arm; Each hydraulic damping arm includes a metal arm plate and an integrated hydraulic damping unit. The front end of the integrated hydraulic damping unit of each hydraulic damping arm is hinged to the metal arm plate, and the rear end is hinged to the metal arm plate of the other hydraulic damping arm behind it. The rear end of the integrated hydraulic damping unit of the last hydraulic damping arm is hinged to the robotic arm support frame. The integrated hydraulic damping unit includes a displacement sensor module, a hydraulic cylinder, a common end cap, and a built-in valve-type magnetorheological damper. The hydraulic cylinder and the built-in valve-type magnetorheological damper are connected in series through the same piston rod and isolated by the common end cap. The hydraulic cylinder cavity is filled with hydraulic oil, and the built-in valve-type magnetorheological damper cavity is filled with magnetorheological fluid. The signal transmitting and receiving parts of the displacement sensor module are respectively located on the hydraulic cylinder and the piston rod, and are used to detect the actual displacement of the piston rod. The hydraulic cylinder is used to drive the hydraulic robotic arm to move, and the built-in valve-type magnetorheological damper is used to suppress the vibration generated by the movement of the hydraulic robotic arm. The control method for the hydraulic robotic arm based on magnetorheological damper vibration reduction includes the following steps: Step S1. Input the displacement signal error of the hydraulic cylinder piston rod in the hydraulic robotic arm to the hydraulic cylinder PID controller, and control the hydraulic cylinder to drive the hydraulic robotic arm to perform actions through the servo valve; Step S2. Establish a dynamic model of the robotic arm, obtain the torque generated by the hydraulic robotic arm through motion, and calculate the load force F on the hydraulic cylinder through torque-force conversion. D ; Step S3. Establish the force balance equation for the hydraulic cylinder; Step S4. Establish a system motion state discriminant based on the system's steady state; Step S5. Combine the hydraulic cylinder force balance equation established in step S3 with the system motion state discriminant established in step S4 to obtain the desired output damping force F of the magnetorheological damper with the ideal objective of hydraulic cylinder force balance and system motion error of 0. M0 ; Step S6. The desired output damping force F of the magnetorheological damper M0 The input is fed to the damper PID controller, which then outputs a signal to the nonlinear compensator. After nonlinear compensation, the output current signal I0 is sent to the control rule filter, and finally, the control current I is output to the magnetorheological damper, causing the magnetorheological damper to output a damping force F. M It acts on the hydraulic cylinder to suppress system vibration.

2. The control method for a hydraulic robotic arm based on magnetorheological damper vibration reduction according to claim 1, characterized in that, The expression for the hydraulic cylinder force balance equation established in step S3 is as follows: Where A is the effective area of ​​the hydraulic cylinder's oil chamber; p1 and p2 are the pressures in the left and right chambers of the hydraulic cylinder, respectively; m is the total mass of the hydraulic cylinder piston and external load referred to the hydraulic cylinder piston; B is the viscous damping coefficient of the hydraulic cylinder; and K is the load elastic stiffness of the hydraulic cylinder. , , These are the actual displacement, velocity, and acceleration of the hydraulic cylinder piston rod, respectively.

3. The control method for a hydraulic robotic arm based on magnetorheological damper vibration reduction according to claim 1, characterized in that, To ensure that the system motion error is zero, the hydraulic cylinder piston rod should satisfy the following condition in the system motion state discrimination formula established in step S4: Where W is the weight matrix, E is the error vector. ; Where k1 and k2 are both constants and k1>0, k2>0; , , These are the displacement error, velocity error, and acceleration error of the hydraulic cylinder piston rod, respectively, and their expressions are as follows: in, , , These represent the desired displacement, velocity, and acceleration of the hydraulic cylinder piston rod, respectively.

4. The control method for a hydraulic robotic arm based on magnetorheological damper vibration reduction according to claim 1, characterized in that, In step S5, the magnetorheological damper is expected to output a damping force F with the ideal goal of achieving hydraulic cylinder force balance and zero system motion error. M0 The expression is: 。 5. The control method for a hydraulic robotic arm based on magnetorheological damper vibration reduction according to claim 1, characterized in that, In step S6, the filtering rule of the control rule filter is: hydraulic cylinder piston rod displacement error. Error with hydraulic cylinder piston rod speed When the signs are the same, the output control current I = I0, and the displacement error of the hydraulic cylinder piston rod is... Error with hydraulic cylinder piston rod speed When the signs are opposite, the output control current I = 0.

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