Magnetorheological variable stiffness and damping flexible joint with cam working surface for industrial robot

Vibration isolation methods that vary damping and stiffness have demonstrated excellent authority over system vibration, thus, potentially making them attractive for many applications. However, conventional devices for controlling variable stiffness are typically complicated and difficult to implement in most applications. To address this issue, a new method is proposed that requires two magnetorheological (MR) fluid dampers placed in series. With this configuration, variable damping and stiffness vibration control is simultaneously achieved by varying a small current to the MR dampers. This paper presents a theoretical and experimental analysis of a two degree-of-freedom system that is controlled by the MR dampers. Five different control schemes involving the variable damping and stiffness are explored. The time and frequency responses of the two degree-of-freedom system to a random input show that combined variable damping and stiffness control provides the best vibration isolation over a frequency range spanning the system’s two structural vibration modes. The experimental results agree well with the theoretical analysis.

Lighter structures are increasingly required for flexible spacecraft. However, low frequency and large amplitude vibration problems are unavoidable due to external disturbances or attitude maneuvering especially when working under a microgravity environment. Therefore, a new methodology involving a semi-active technique using an actively tunable joint with variable stiffness and damping control, capable of handling such issues is proposed in this study. The incentive active joint was conceived with a compact structure, based on the electromagnetic direct drive principle. First, a dynamic model of rotating flexible plate was established. Then, a prototype was fabricated and tested. Finally, on the one hand, numerical simulations and experimental results indicated that, when the joint torsional stiffness changed, a frequency shift phenomenon occurred. On the other hand, two types of noncontact periodic vibration excitation methods along the rotation direction were proposed and the experimental results validated that the major frequency bandwidth of interference signal was 0.08–0.52 Hz with a significant vibration attenuation of 5.5–31.5 dB in effective bandwidth. Moreover, in the low frequency range (0.08–0.43 Hz), variable damping was found to be the main factor and variable stiffness was the secondary factor. However, in the high frequency range (around 0.52 Hz), variable stiffness was dominant and variable damping was inferior. These findings are expected to effectively suppress the low frequency and large amplitude vibration of solar panels with flexible joints.

The capability of a variable stiffness and damping (VSVD) suspension system via a magnetorheological (MR) damper on improving vehicle lateral stability is investigated in this paper. First, a type of the VSVD suspension system is briefly introduced with the application of variable damping to realize the capability of VSVD. Then, variable damping via the MR damper is extended, and the characteristics of damping force are presented with the Bouc-Wen model. Then, the proposed VSVD system is inserted into a full vehicle model as a front suspension system to control tire normal forces. A control strategy composed of a fuzzy controller that the output is wheel slip ratio and a simple on/off controller to model the application of VSVD is developed to illustrate its ability in improving vehicle stability. It is shown from simulation that VSVD can increase tire normal forces and make vehicles present better performance on lateral stability.

This paper presents an innovative seat suspension with variable stiffness and variable damping (VSVD) via magnetorheological fluid dampers to enhance ride comfort. The VSVD seat suspension is developed based on an innovative structure with springs in series and damping units, and its principles of VSVD and vibration attenuation are evaluated theoretically. The proposed VSVD seat suspension is then manufactured and tested. The test results illustrate that the equivalent stiffness of the seat suspension with power on (Is = 2.0 A current) increased to 186% and the equivalent damping (Id = 1.0 A) raised to 520% compared to the seat suspension with no current applied. The evaluation of vibration-attenuation capability of the seat suspension is conducted by employing Fuzzy logic controls and both harmonic and random signals are considered as vibration excitations. The experimental data show that the proposed seat suspension with controlled stiffness and damping results in lower seat acceleration compared to a passive seat or one with traditional damping control.

Semi-active vibration isolation system with variable stiffness and damping control

Soft array structure has the advantages of super redundancy, high fault-tolerance, high adaptability, and high reliability, and has a promising application in soft grasping, soft locomotion, and interface science. However, the variable stiffness of soft array structures has always been challenging. Inspired by the biological tube foot and water vascular system of starfish, we propose a fiber-reinforced soft fluidic tube-foot array with variable stiffness. The soft tube-foot array can be assembled on various shapes of surfaces and can be modularized, enabling the functions of self-adapting, cushioning, variable damping, and obstacle surmounting. Furthermore, we build a peak stiffness model for the bioinspired tube foot, and the theoretical and experimental comparison results show that the mean absolute percent error is ≤9.3%. Finally, we apply the soft tube-foot array to the soft grasping and amphibious wheels. The contribution of this work is to propose a novel soft array structure and a simple and universal method to control the stiffness of fluid-actuated soft array structures.

A quasi-zero-stiffness (QZS) vibration isolation system presents the characteristics of high-static-low-dynamic, which can effectively isolate ultralow-frequency vibrations. However, most QZS vibration isolation systems are highly susceptible to external loads, causing deviations from the equilibrium position, which degrades their vibration isolation performance and severely restricts the range of QZS. To overcome these limitations, a novel vibration isolator was proposed by integrating a QZS structure with a variable stiffness and variable damping (VSVD) structure. The stiffness and damping of the vibration isolation system can be regulated to resist variable mass loads, and the QZS vibration isolation band can be broadened using the nonlinear positive stiffness of the conical rubber spring to effectively suppress ultralow-frequency vibrations. The dynamic characteristics of the QZS-VSVD vibration isolator were analyzed using the harmonic balance method. The effects of damping coefficients, excitation amplitude, and mass load on the amplitude–frequency characteristics and displacement transmissibility of the vibration isolation system were investigated. A virtual prototype of the QZS-VSVD vibration isolator was established using the ADAMS software, and vibration simulations were conducted. The results indicate that the QZS-VSVD vibration isolator can achieve ultralow-frequency vibration isolation at approximately 1 Hz under variable mass loads ranging from 3300 N to 3700 N. When the mass load was 3500 N, the amplitudes of the isolated object were attenuated by 70.6% and 86.2% under displacement excitation at 3 Hz and 5 Hz, respectively. Compared to linear isolators and a typical QZS structure, the proposed QZS-VSVD vibration isolator exhibited a greater load-bearing capacity, stronger anti-interference capability, and broader vibration isolation bandwidth.

Damping involves the various frictional and other obstructive effects that attenuate free vibration. For a long time, people have mainly used it to make various dampers to reduce mechanical vibration and consume kinetic energy. It is widely used in fields such as aerospace, automotive, and consumer electronics. These dampers mainly act on mechanical structures. In recent years, with the rapid development of novel human–machine interaction methods and force/tactile feedback technology, the damper has begun to act on people, such as when a person interacts with a robot and their force is applied to a structure with damping. This type of damper requires variable damping, and the amount of variation is controlled by the magnitude of human action. This study used magnetorheological fluid (MRF) instead of traditional damping fluids, such as silicone oil, sesame oil, and mechanical oil. Magnetorheological fluid is a controllable fluid with magnetorheological effects, and its viscosity (hardness) can be changed by changing the nearby magnetic field. This study took the design of variable damping keyboard buttons with haptic feedback as an example to study the electromagnetic and dynamic models of variable dampers based on magnetorheological fluids. The experimental setup was designed and used to verify the haptic effectiveness of the scheme, which can be applied to the development of other haptic dampers that require variable damping.

The human ball joint is a compact and flexible 3-degree-of-freedom (DOF) composite joint. The ball joints commonly used in robot design lack active driving capability. Ball joints with active drive generally consist of three single-degree-of-freedom joints connected in series, which is a noncompacted structure and easily leads to singular postures. In order to meet the demand for high-performance composite joint modules for service robots, this article designs a flexible biomimetic spherical robot joint with variable stiffness characteristics: the mechanism of muscle parallel antagonistic drive and ligament wrapping constraint is simulated; three parallel branch chains are used to drive three composite degrees-of-freedom; ropes, soft airbags, and series elastic drive gears are used to form a flexible transmission system; the contour of the rope winch has been optimized with the aim of transmission stability; and a pneumatic variable stiffness soft structure has been designed and fabricated. A compliance control algorithm for joints was developed based on the principle of impedance control. The research results indicate that the biomimetic ball-and-socket joint has a compact structure, a wide range of motion and good motion tracking performance, variable stiffness performance, and flexible interaction ability.

SUMMARY In the present study, a semi-active tuned mass damper (STMD) with variable damping coefficient and stiffness is evaluated under seismic excitations. Variation of the damping ratio of the STMD is implemented through tracking the displacement of the STMD.If the tracked amplitude of the STMD is increasing, damping ratio of the STMD is set to zero, or else it is set to an appropriate nonzero value. Stiffness of the STMD is tuned through tracking the displacement of the primary structure, which is analyzed using a short-time Fourier transform-based control algorithm. Both far-field and near-fault ground motions are used to examine the effectiveness of the STMD and the control algorithm. Displacement time history and response (displacement and acceleration) spectra are obtained for the cases of an optimal passive TMD and an STMD. It is found that the STMD with variable damping ratio and frequency can effectively attenuate the seismic responses and outperform the optimal passive TMD. In addition, results are obtained for the case that damage occurs to the primary structure during an earthquake. The study indicates that the STMD controlled by the proposed algorithm can rapidly capture the variation of the structure and remains tuned with the primary structure, whereas the optimal TMD becomes off-tuned when damage occurs. Copyright © 2013 John Wiley & Sons, Ltd.

To suppress random vibration of aircraft models during wind tunnel tests, a novel magnetorheological elastomer (MRE)-based device with variable stiffness and variable damping (VSVD) is proposed, which is installed on the tail support system. Firstly, the dynamic characteristics of the tail support system are established using finite element model simulation to obtain the vibration mode and stress distribution. Next, the vibration reduction mechanism of the MRE-based tail support system is analyzed by solving a finite element model. Then, the magnetic-controlled VSVD device with an annular sandwich structure is proposed, and the decisive rheology material and structural parameters in relation to the tail support system’s dynamics are determined. Subsequently, the magnetically generated element with multicoils is designed to guarantee a large enough magnetic field, and the optimal structure parameters are obtained. Finally, random wind flow experiments in the wind tunnel and frequency sweep tests in the ground laboratory for the tail support system equipped on the VSVD device are conducted to verify the effectiveness of the proposed device, respectively. The results under 15–200 Hz random excitation indicate the root mean square of acceleration at the centroid of the aircraft model with the VSVD device can be decreased by 46.8% compared to the system without the VSVD device.

Conventional Proportional Integral Derivative (PID) control is often used in present industrial field. Fuzzy rules and its inference mechanism are the assurance of achieving feature fusion. The flexible joint is composed of four elongation artificial muscles with parallel arrangement. The robot hand has five multi-actuated fingers each with three flexible joints. Because the control parameters are fixed, the tuning results are difficult to meet the demands and the system is unstable or even out of control. This paper has a design and analysis on the dual thumb pneumatic flexible robot hand base on the active flexible bending joints we have developed. In this paper, Matlab is used to confirm that the fuzzy control system has good adaptability and anti-jamming capability.

Dynamic analysis of high speed gears by using loaded static transmission error

Continuum robots, owing to their inherent compliance, have become essential in endoscopic surgical procedures, such as mucosal ablation. However, the prevalent design of endoscopic manipulators, which typically features only a single active bending segment, often results in limited dexterity and accessibility. Additionally, the incorporation of variable stiffness in these robots has attracted significant interest, with the aim to improve manipulation capabilities in confined spaces. In the paper, we propose a novel variable-length continuum robot with variable stiffness for endoscopic surgery. The robot’s stiffness can be altered either by modifying the catheter’s length or solid-liquid transition of low-melting-point alloy (LMPA). The design and fabrication methods of the robot are meticulously detailed. Additionally, a quasi-static stiffness model along with a learning-based stiffness compensation approach for accurate stiffness estimation are proposed. Leveraging this model, a contact force controller is designed for ablation procedure. The experimental results show that our robot possesses good flexibility and accessibility, making it highly adept at manipulating in confined spaces. Its variable stiffness feature significantly enhances its ability to counteract external disturbance and prevent tip deformation (with a average position change of 1.1mm). Finally, through force control experiments and a surgical demonstration in a gastrointestinal model, we have further validated the robot’s applicability in surgical contexts. Note to Practitioners—This paper proposed a variable-length continuum robot with variable stiffness for endoscopic surgery. The robot can achieve axial elongation and omnidirectional bending motion, having better dexterity and accessibility than traditional medical continuum robots with one active bending segment. The robot’s stiffness can be adjusted by the length changes or solid-liquid transition of low-melting-point alloy (LMPA). Besides, an accurate stiffness model and a contact force controller are proposed for endoscopic ablation surgery. By experimental results, the robot shows high flexibility and accessibility, allowing access to confined spaces for manipulation, and good control accuracy and variable stiffness capability for endoscopic surgery.

Fish display remarkable swimming capabilities through the coordinated interaction of the body and caudal fin, yet the potential role of a passively pitching tail in enhancing hydrodynamic performance remains unresolved. In this work, we evaluate the performance of a carangiform swimmer equipped with either an actively pitching tail or a passively pitching tail. High-fidelity fluid–structure interaction simulations are employed to assess how variations in joint stiffness, damping, and inertia influence thrust generation, power demand, and overall stability at two representative Reynolds numbers, 500 and 5000. The results reveal that actively pitching tails tend to generate greater thrust, while passively pitching tails deliver improved outcomes in terms of power demand at the lower Reynolds number. Larger pitching amplitudes contribute positively only when associated with higher swimming frequency; when produced by reduced inertia or more flexible joints, they lead to unfavorable effects. At the higher Reynolds number, active tails consistently outperform passive ones, although a small subset of passive cases still achieve favorable performance. Across all cases, a recurring balance emerges, with thrust production and power expenditure varying inversely. These findings clarify the hydrodynamic consequences of passive versus active tail motion and establish design principles for bio-inspired underwater vehicles, in which smaller swimmers may benefit from passive tail pitching, whereas larger swimmers are better served by active control.