期刊
MACHINES
卷 11, 期 2, 页码 -出版社
MDPI
DOI: 10.3390/machines11020236
关键词
biologically inspired; magnetorheological fluid; robot leg; shock absorber; variable stiffness
The performance of a magnetorheological-fluid-based variable stiffness actuator leg under high impact forces was evaluated through optimal tuning and control of stiffness and damping properties. Drop testing experiments were conducted to assess the leg's performance at different drop heights and payload masses. The results demonstrated the importance of considering both stiffness and damping in the design of legged robots for high impact force resistance, and highlighted the efficacy of the proposed magnetorheological-fluid-based leg design for this purpose.
The objective of this study was to evaluate the performance of a magnetorheological-fluid-based variable stiffness actuator leg under high impact forces through optimal tuning and control of stiffness and damping properties. To achieve this, drop testing experiments were conducted with the leg at various drop heights and payload masses. The results showed that while lower stiffness and higher damping can lead to lower impact forces and greater energy dissipation, respectively, optimal control can also protect the leg from deflecting beyond its functional range. Comparison with a rigid leg with higher damping showed a 57.5% reduction in impact force, while a more compliant leg with lower damping results in a 61.4% reduction. These findings demonstrate the importance of considering both stiffness and damping in the design of legged robots for high impact force resistance. This simultaneously highlights the efficacy of the proposed magnetorheological-fluid-based leg design for this purpose.
作者
我是这篇论文的作者
点击您的名字以认领此论文并将其添加到您的个人资料中。
推荐
暂无数据