CN115727097A - Magnetorheological fluid vibration absorber for inhibiting flutter of intelligent main shaft of industrial robot and design method - Google Patents
Magnetorheological fluid vibration absorber for inhibiting flutter of intelligent main shaft of industrial robot and design method Download PDFInfo
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- CN115727097A CN115727097A CN202211669386.6A CN202211669386A CN115727097A CN 115727097 A CN115727097 A CN 115727097A CN 202211669386 A CN202211669386 A CN 202211669386A CN 115727097 A CN115727097 A CN 115727097A
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Abstract
The invention discloses a magnetorheological fluid vibration absorber for inhibiting flutter of an intelligent main shaft of an industrial robot and a design method; the magnetorheological fluid vibration absorber comprises: the device comprises a shear blade, a magnet exciting coil, a mass block, silicon rubber, magnetorheological fluid, a cylinder barrel and a guide assembly. The magnetorheological fluid vibration absorber is arranged on an intelligent spindle box body at the tail end of the industrial robot. The magnetorheological fluid vibration absorber can change the inherent frequency of the magnetorheological fluid vibration absorber by adjusting the magnetic field intensity, so that the processing vibration frequency of the industrial robot is the same as the inherent frequency of the vibration absorber, and the vibration suppression effect is achieved; and predicting modal parameters of different industrial robots at different processing points by using a Gaussian process regression model. The predicted modal parameters are then used as inputs to obtain a transfer matrix for calculating the dither frequency. Finally, by utilizing the controllable storage modulus of the magnetorheological fluid in the yield front area, the magnetorheological fluid vibration absorber for inhibiting the intelligent spindle of the industrial robot from fluttering and the design method are designed.
Description
Technical Field
The invention belongs to the field of intelligent manufacturing, and particularly relates to a magnetorheological fluid vibration absorber for inhibiting the flutter of an intelligent spindle of an industrial robot and a design method.
Background
The flexibility and low cost of industrial robots make them potentially useful for machining complex and large structural parts. However, numerically controlled machines are still machined posts. The main reason for this is that industrial robots are relatively stiff and cause flutter even at relatively small cutting depths. Therefore, how to suppress the industrial robot process chatter vibration has become an important issue in the manufacturing industry. Various passive and active strategies have been developed to suppress industrial robot process chatter.
The passive suppression strategy is adopted, external energy input is not needed, and the operation is relatively simple. Passive inhibition strategies can be divided into two categories: and (1) enhancing the structural rigidity of the industrial robot. And (2) installing various types of passive absorbers and dampers. Because parameters such as rigidity and damping are not controllable, the passive flutter suppression strategy is difficult to use in actual machining of the industrial robot.
The active suppression strategy can carry out corresponding control according to the processing signal, thereby overcoming the defect of passive flutter suppression. Since the chatter vibration generated during the robot machining is mainly caused by dynamic force, the chatter vibration can be suppressed by various force sensing techniques and active control strategies. Active suppression strategies avoid chatter primarily by controlling force, which results in low productivity. Furthermore, the complexity, high cost and high energy consumption of active inhibition strategies have hindered their practical application. In contrast, semi-active vibration absorbers have broad prospects in terms of robot machining chatter.
The semi-active suppression strategy requires less external energy and it can control the absorption of the flutter energy by varying the input energy value. The frequency of the flutter is greatly changed when the industrial robot processes at different rotating speeds and different processing postures. Therefore, it is necessary to design a magnetorheological fluid vibration absorber with controllable natural frequency to suppress the flutter generated by the industrial robot during processing.
Disclosure of Invention
In order to solve the technical problems in the background art, the invention aims to provide the magnetorheological fluid vibration absorber for inhibiting the flutter of the intelligent spindle of the industrial robot and the design method thereof, the natural frequency is controllable, and a solution is provided for realizing the high-precision and high-efficiency processing of the industrial robot.
In order to achieve the technical purpose, the technical scheme of the invention is as follows: a magnetorheological fluid vibration absorber for inhibiting flutter of an intelligent main shaft of an industrial robot comprises a mass block, a magnetorheological fluid storage modulus component, a shell and silicon rubber; the mass block and the silicon rubber are annular, the end face of the mass block is connected with the silicon rubber, four bosses are uniformly arranged on the periphery of the mass block, and the bosses are connected with the magnetorheological fluid energy storage modulus component; the mass block, the magnetorheological fluid storage modulus component and the silicon rubber are arranged in the shell; the magnetorheological fluid energy storage modulus part comprises magnetorheological fluid, a cylinder barrel, a shear blade, an excitation coil and a guide assembly,
the mass block is connected with the shear blade through the piston rod, the cylinder barrel is filled with magnetorheological fluid, the shear blade is arranged in the magnetorheological fluid, and one side of the cylinder barrel is provided with the excitation coil; the cylinder barrel is connected with a guide assembly, the guide assembly is axially guided along the main shaft, the shearing blade radially moves along the main shaft, the excitation coil is connected with a power supply, and the excitation coil generates a magnetic field perpendicular to the shearing blade.
The mass block, the silicon rubber, the shear plate and the magnetorheological fluid under the non-magnetic field provide basic frequency of the magnetorheological fluid vibration absorber, the storage modulus of the magnetorheological fluid in the yield front area is greatly changed along with the magnetic field intensity, the magnetorheological fluid vibration absorber is provided with frequency shift characteristics with wider frequency band, and the current of the excitation coil is controlled to enable the inherent frequency of the magnetorheological fluid vibration absorber in the x direction and the y direction to be consistent with the flutter frequency; the shear slice in the magnetorheological fluid vibration absorber works in the yield front area of the magnetorheological fluid.
The basic frequency of the magnetorheological fluid vibration absorber is adjusted by changing the thickness and the contact area of the silicon rubber.
The mass block is fixed on the silicon rubber through an adhesive and performs shearing motion.
One end of the piston rod is connected with the shear blade, the other end of the piston rod is provided with a connecting plate, and the mass block is connected with the connecting plate through a screw.
The displacement of the shear blade when vibrated is in the micrometer and millimeter level.
The cylinder barrel is made of non-electromagnetic shielding material, and is provided with a liquid inlet which is sealed during working.
The guide assembly comprises a rolling assembly, a clamping plate and a fixed seat, the fixed seat is connected with the shell, a channel through which the clamping plate passes is arranged on the fixed seat, the rolling assembly is arranged at a position where the channel is contacted with the clamping plate, the guide assembly in the x direction can only move towards the y direction, and the guide assembly in the y direction can only move towards the x direction; the influence of the rolling friction force of the rolling assemblies in the x direction and the y direction on the natural frequency of the magnetorheological fluid vibration absorber is ignored; the rolling assembly adopts a linear bearing or a universal ball.
The invention discloses a design method of a magnetorheological fluid vibration absorber for inhibiting the flutter of an intelligent main shaft of an industrial robot, which comprises the following steps:
s1, respectively obtaining modal parameters of a tool nose x-direction industrial robot milling system and a tool nose y-direction industrial robot milling system of the industrial robot at a discrete machining point through a modal test;
s2, establishing a Gaussian process regression model by using the obtained modal parameters and the corresponding poses of the industrial robot to predict the modal parameters of the industrial robot in the x direction and the y direction at the residual processing points;
s3, calculating the flutter frequency of the robot under different processing parameters by using the modal parameters of the processing points obtained by prediction;
s4, designing the thickness and the contact area of the silicon rubber, the mass of the mass block, the size of the shear blade, the parameters of the excitation coil, the model of the magnetorheological fluid and the parameters of the cylinder barrel according to the flutter frequency obtained at each processing point;
s5, testing the frequency shift characteristic of the magnetorheological fluid vibration absorber by using the sine frequency sweep signal to obtain the relation between the current of the excitation coil and the inherent frequency of the magnetorheological fluid vibration absorber;
s6, installing the magnetorheological fluid vibration absorber at the main shaft box body at the tail end of the industrial robot, and installing the acceleration sensors in the x direction and the y direction of the box body respectively;
s7, planning the change of the current of the magnetorheological fluid vibration absorber in the x direction and the y direction along with the time in advance according to the flutter frequency obtained in the S3 and the processing parameters of the industrial robot;
s8, obtaining the performance of the magnetorheological fluid vibration absorber for inhibiting the machining flutter of the industrial robot by analyzing the frequency domain components of the acceleration signals;
and S9, collecting the acceleration signal as a parameter for optimizing the magnetorheological fluid vibration absorber, and repeating the steps from S4 to S9 to obtain the optimized magnetorheological fluid vibration absorber.
The inherent frequency of the magnetorheological fluid vibration absorber in a single direction is as follows:
wherein
Is the storage modulus, G, of the magnetorheological fluid 0 、G ∞ 、α 1 And alpha 2 Is an empirical constant, B is the magnetic field strength generated by the excitation coil, M is the sum of the mass and the shear slice, A 1 ＝4l 1 w 1 Is the sum of the areas of the shear slices, h 1 Is the distance between the shear blade and the upper wall of the cylinder, G 2 Is the shear modulus of the silicone rubber,
is the contact area between the silicon rubber and the mass block, h 2 Is the thickness of the silicone rubber.
Compared with the prior art, the invention at least has the following beneficial effects:
compared with the prior art, the invention designs the magnetorheological fluid vibration absorber for inhibiting the flutter of the intelligent spindle of the industrial robot and the design method thereof, and in order to face the characteristics that the flutter frequency of the industrial robot changes along with the change of a processing attitude and a processing parameter and has a larger change range, the vibration displacement generated by the processing of the industrial robot is smaller, the magnetorheological fluid vibration absorber with a larger frequency shift range is designed by considering the larger rigidity controllability of the magnetorheological fluid in a yield front area, the storage modulus of the magnetorheological fluid in the yield front area changes along with the magnetic field intensity to provide the magnetorheological fluid vibration absorber with a frequency shift characteristic with a wider frequency band, and the magnetic field intensities in the x direction and the y direction can respectively control the storage modulus in the respective direction, so that the magnetorheological fluid vibration absorber has different inherent frequencies in the x direction and the y direction; in the face of the characteristic that the difference between an industrial robot and a machine tool is large, namely the difference between modal parameters in the x direction and the y direction is large, structures with controllable magnetic field intensity in the x direction and the y direction are respectively designed to realize that the magnetorheological fluid vibration absorber has different natural frequencies in the x direction and the y direction.
Drawings
Fig. 1 is a schematic diagram of an industrial robot and a magnetorheological-fluid vibration absorber.
Fig. 2 is a top view of a magnetorheological fluid vibration absorber.
Fig. 3 is a front view of a magnetorheological fluid vibration absorber.
Fig. 4 is a top view of a magnetorheological fluid storage modulus component.
Fig. 5 is a front view of a magnetorheological fluid storage modulus component.
Fig. 6 is a guide assembly.
In the drawings, wherein: 1. a magnetorheological fluid vibration absorber; 2. a main shaft; 3. an industrial robot; 11. a mass block; 12. a magnetorheological fluid storage modulus component; 121. magnetorheological fluid; 122. shearing the slices; 123. a cylinder barrel; 124. a field coil; 13. a housing; 14. silicone rubber; 15. a guide assembly; 151. a bearing; 152. a splint; 153. a fixed seat.
Detailed Description
The following description of the embodiments of the present invention will be made with reference to the accompanying drawings. It should be noted that the description of the embodiments is provided to help understanding of the present invention, but the present invention is not limited thereto. In addition, the technical features involved in the embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.
The industrial robot is used as core equipment for intelligent manufacturing, and has wide application prospect in processing large-scale complex parts such as aerospace cabin bodies, airplane skins, ship propeller blades and the like. However, the industrial robot has low precision and poor rigidity, which is a bottleneck problem that restricts the realization of high-precision and high-efficiency processing.
Referring to fig. 1, 2 and 3, the invention provides a magnetorheological fluid vibration absorber for inhibiting flutter of an intelligent spindle of an industrial robot, which comprises a mass block 11, a magnetorheological fluid storage modulus component 12, a shell 13 and silicon rubber 14; the mass block 11 and the silicon rubber 14 are both annular, the end face of the mass block 11 is connected with the silicon rubber 14, four bosses are uniformly arranged on the periphery of the mass block 11 and connected with the magnetorheological fluid energy storage modulus component 12; the mass block 11, the magnetorheological fluid storage modulus component 12 and the silicon rubber 14 are arranged in the shell 13; the magnetorheological fluid energy storage modulus component 12 comprises magnetorheological fluid 121, a cylinder 123, a shear blade 122, a magnet exciting coil 124 and a guide assembly 15, wherein the mass block 11 is connected with the shear blade 122 through a piston rod, the cylinder 123 is filled with the magnetorheological fluid 121, the shear blade 122 is arranged in the magnetorheological fluid 121, and the magnet exciting coil 124 is arranged on one side of the cylinder 123; the x direction and the y direction of the magnetorheological fluid vibration absorber 1 can have the same natural frequency or different natural frequencies; the cylinder 123 is connected with the guide assembly 15, the guide assembly 15 guides along the axial direction of the main shaft, the shearing blade 122 moves along the radial direction of the main shaft, the excitation coil 124 is connected with the power supply, the excitation coil 124 generates a magnetic field perpendicular to the shearing blade 122, and the magnetorheological fluid vibration absorber 1 is arranged on the outer side of the main shaft 2.
The mass block 11, the silicon rubber 14, the shear blade 122 and the magnetorheological fluid 121 under the non-magnetic field provide the fundamental frequency of the magnetorheological fluid vibration absorber 1, the shear blade 122 in the magnetorheological fluid vibration absorber 1 works in the yield front area of the magnetorheological fluid 121, the storage modulus of the magnetorheological fluid 121 in the yield front area is greatly changed along with the magnetic field intensity, a frequency shift characteristic with wider frequency band is provided for the magnetorheological fluid vibration absorber 1, and the current of the excitation coil 124 is controlled to enable the inherent frequency of the magnetorheological fluid vibration absorber 1 in the x and y directions to be consistent with the flutter frequency;
the fundamental frequency of the magnetorheological vibration absorber 1 is adjusted by changing the thickness and the contact area of the silicone rubber 14.
The mass 11 is fixed on the silicon rubber 14 through an adhesive, and the mass 11 is fixed on the silicon rubber 14 for shearing movement.
One end of the piston rod is connected with the shear blade 122, the other end of the piston rod is provided with a connecting plate, and the mass block 11 is connected with the connecting plate through a screw.
The shear blade 122 is vibrated with displacements on the order of microns and millimeters.
The cylinder 123 is made of non-electromagnetic shielding material, and a liquid inlet is arranged on the cylinder 123 and is sealed when the cylinder works.
Referring to fig. 3 and 6, the guide assembly 15 includes a rolling assembly, a clamping plate 152 and a fixing seat 153, the fixing seat 153 is connected to the housing, a channel through which the clamping plate 152 passes is formed on the fixing seat 153, and the rolling assembly is disposed at a position where the channel contacts the clamping plate 152, wherein the guide assembly in the x direction can only move in the y direction, and the guide assembly in the y direction can only move in the x direction; the influence of the rolling friction force of the rolling assemblies in the x direction and the y direction on the natural frequency of the magnetorheological fluid vibration absorber is ignored; the rolling component adopts a bearing or a universal ball; the magnetic field intensity in the x direction and the y direction is respectively controlled, and different magnetic field intensities enable the magnetorheological fluid to have different storage moduli in the yield front area; the different natural frequencies generated in the x direction and the y direction are suitable for the situation that the difference of the modal parameters of the industrial robot in the x direction and the y direction is large.
The invention designs a magnetorheological fluid vibration absorber for inhibiting the flutter of an intelligent main shaft of an industrial robot and a design method thereof to inhibit the flutter generated during the processing of the industrial robot, thereby realizing the high-precision and high-efficiency processing of the industrial robot.
The embodiment takes a common industrial robot milling as an example to illustrate the magnetorheological fluid vibration absorber and the design method designed by the invention, and the steps are as follows.
Firstly, obtaining modal parameters of the industrial robot at partial discrete processing points through a hammering modal test, wherein the modal parameters comprise natural frequency, damping ratio and mass, and the prior of the modal parameters is Gaussian distribution related to the 3 postures of the industrial robot.
And step two, providing a Gaussian kernel function, wherein the hyper-parameters in the Gaussian kernel function are obtained by optimizing maximum likelihood estimation.
And thirdly, combining the modal parameters of the processing point to be predicted and the measured modal parameters to form combined prior distribution, and then obtaining the modal parameters of the predicted processing point by using Bayesian inference.
And step four, establishing a robot-milling system dynamic model by utilizing the predicted modal parameters, and obtaining a transfer matrix according to a semi-discrete method.
And step five, obtaining dominant frequency in milling vibration of the industrial robot 3 by a method for analyzing the characteristic root of the transfer matrix.
And step six, specific parameters of each part of the magnetorheological fluid vibration absorber 1 are given based on the flutter frequency obtained at each processing point.
And seventhly, the guide assembly 15 comprises a bearing 151, a clamping plate 152 and a fixed seat 153, so that the mass block can move towards any direction, the guide assembly 15 in the x direction can only move towards the y direction, and the guide assembly 15 in the y direction can only move towards the x direction, so that the shearing force generated by the silicon rubber 14 and the magnetorheological fluid 121 in the x direction and the y direction to the maximum extent is ensured.
Step eight, the proposed magnetorheological fluid vibration absorber 1 can make the x and y directions have different natural frequencies by changing the magnetic field strength of the x and y. The natural frequency of the magnetorheological fluid vibration absorber 1 in a single direction can be expressed as:
wherein
Is the storage modulus, G, of the magnetorheological fluid 121 0 、G ∞ 、α 1 And alpha 2 Is an empirical constant, B is the magnetic field strength generated by the excitation coil 24, M is the sum of the masses of the mass 11 and the shear plate 122, A 1 ＝4l 1 w 1 Is the sum of the areas of the shear planes 122, h 1 Is the distance, G, between the shear plane 122 and the upper wall of the cylinder 123 2 Is the shear modulus of the silicone rubber 14,
is the contact area between the silicon rubber 14 and the mass 11, h 2 Is the thickness of the silicone rubber 14.
And ninthly, mounting an iron plate on two linear bearings supported by the vibration table, directly fixing the magnetorheological fluid vibration absorber 1 on the iron plate, exciting the magnetorheological fluid vibration absorber 1 through a sine frequency sweeping signal, mounting an acceleration sensor at the upper end of the magnetorheological fluid vibration absorber 1 for data acquisition, and testing the frequency shift performance of the magnetorheological fluid vibration absorber 1 by respectively providing currents with the step length of 0.2A for the exciting coil 124 through a direct current power supply.
Step ten, obtaining a fitting curve through the relation between the current and the natural frequency of the magnetorheological fluid vibration absorber 1 to provide a basis for controlling the natural frequency of the magnetorheological fluid vibration absorber 1.
Step eleven, installing the magnetorheological fluid vibration absorber 1 at the box body of the main shaft 2, and predicting dominant frequencies of flutter at different processing points through predicted modal parameters before the industrial robot 3 processes; the current change of the magnetorheological fluid vibration absorber 1 along with time is planned in advance according to the flutter frequency and the processing parameters of the industrial robot 3, so that the industrial robot 3 can control the inherent frequency of the magnetorheological fluid vibration absorber 1 to be equal to the dominant frequency of the flutter at each processing point, and the flutter suppression effect is guaranteed.
Claims (10)
1. A magnetorheological fluid vibration absorber for inhibiting the flutter of an intelligent main shaft of an industrial robot is characterized by comprising a mass block (11), a magnetorheological fluid storage modulus component (12), a shell (13) and silicon rubber (14); the mass block (11) and the silicon rubber (14) are both annular, the end face of the mass block (11) is connected with the silicon rubber (14), four bosses are uniformly arranged on the periphery of the mass block (11), and the bosses are connected with the magnetorheological fluid energy storage modulus component (12); the mass block (11), the magnetorheological fluid storage modulus component (12) and the silicon rubber (14) are arranged in the shell (13); the magnetorheological fluid energy storage modulus component (12) comprises magnetorheological fluid (121), a cylinder barrel (123), a shear blade (122), an excitation coil (124) and a guide assembly (15),
the mass block (11) is connected with the shear blade (122) through the piston rod, the cylinder barrel (123) is filled with magnetorheological fluid (121), the shear blade (122) is arranged in the magnetorheological fluid (121), and one side of the cylinder barrel (123) is provided with the excitation coil (124); the cylinder (123) is connected with the guide assembly (15), the guide assembly (15) is guided along the axial direction of the main shaft, the shearing sheet (122) moves along the radial direction of the main shaft, the excitation coil (124) is connected with a power supply, and the excitation coil (124) generates a magnetic field perpendicular to the shearing sheet (122).
2. The magnetorheological fluid vibration absorber for inhibiting the flutter of the intelligent spindle of the industrial robot according to claim 1, wherein the mass block (11), the silicon rubber (14), the shear plate (122) and the magnetorheological fluid (121) under no magnetic field provide basic frequency, the storage modulus of the magnetorheological fluid (121) in the yield zone is greatly changed along with the magnetic field strength, a frequency shift characteristic with wider frequency band is provided for the magnetorheological fluid vibration absorber (1), and the current of the excitation coil (124) is controlled to enable the inherent frequency of the x direction and the y direction to be consistent with the flutter frequency; the shear blade (122) operates in a yield front region of the magnetorheological fluid (121).
3. The industrial robot smart spindle flutter suppressing magnetorheological fluid vibration absorber according to claim 1, wherein the basic frequency is adjusted by changing the thickness and contact area of the silicone rubber (14).
4. The industrial robot smart spindle flutter suppressing magnetorheological fluid vibration absorber according to claim 1, wherein the mass block (11) is fixed on the silicone rubber (14) by an adhesive, and the mass block (11) is fixed on the silicone rubber (14) for shearing motion.
5. The magnetorheological vibration absorber for inhibiting the flutter of the intelligent spindle of the industrial robot according to claim 1, wherein one end of the piston rod is connected with the shear blade (122), the other end of the piston rod is provided with a connecting plate, and the mass block (11) is connected with the connecting plate through a screw.
6. The industrial robot smart spindle flutter suppression magnetorheological fluid vibration absorber according to claim 1, wherein the shear blade (122) displaces in microns and millimeters when vibrating.
7. The magnetorheological fluid vibration absorber for inhibiting the flutter of the intelligent main shaft of the industrial robot according to claim 1, wherein the cylinder barrel (123) is made of a non-electromagnetic shielding material, and a liquid inlet is formed in the cylinder barrel (123) and is sealed during operation.
8. The industrial robot intelligent spindle flutter suppression magnetorheological fluid vibration absorber according to claim 1, wherein the guide assembly (15) comprises a rolling assembly, a clamping plate (152) and a fixed seat (153), the fixed seat (153) is connected with the shell, a channel for the clamping plate (152) to pass through is arranged on the fixed seat (153), the rolling assembly is arranged at a position where the channel is in contact with the clamping plate (152), the guide assembly in the x direction can only move in the y direction, and the guide assembly in the y direction can only move in the x direction; the influence of the rolling friction force of the rolling assemblies in the x direction and the y direction on the natural frequency of the magnetorheological fluid vibration absorber is ignored; the rolling assembly adopts a linear bearing or a universal ball.
9. The design method of the magnetorheological fluid vibration absorber for inhibiting the flutter of the intelligent spindle of the industrial robot as the any one of the claims 1 to 8 is characterized by comprising the following steps:
s1, respectively obtaining modal parameters of a tool nose x-direction industrial robot milling system and a tool nose y-direction industrial robot milling system of the industrial robot at a discrete machining point through a modal test;
s2, establishing a Gaussian process regression model by using the obtained modal parameters and the corresponding poses of the industrial robot to predict the modal parameters of the industrial robot in the x direction and the y direction at the residual processing points;
s3, calculating the flutter frequency of the robot under different processing parameters by using the modal parameters of the processing points obtained by prediction;
s4, designing the thickness and the contact area of the silicon rubber, the mass of the mass block, the size of the shear blade, the parameters of the excitation coil, the model of the magnetorheological fluid and the parameters of the cylinder barrel according to the flutter frequency obtained at each processing point;
s5, testing the frequency shift characteristic of the magnetorheological fluid vibration absorber by using the sine frequency sweep signal to obtain the relation between the current of the excitation coil and the inherent frequency of the magnetorheological fluid vibration absorber;
s6, installing the magnetorheological fluid vibration absorber at the main shaft box body at the tail end of the industrial robot, and respectively installing the acceleration sensors in the x direction and the y direction of the box body;
s7, planning the change of the current of the magnetorheological fluid vibration absorber in the x direction and the y direction along with the time in advance according to the flutter frequency obtained in the S3 and the processing parameters of the industrial robot;
s8, obtaining the performance of the magnetorheological fluid vibration absorber for inhibiting the machining flutter of the industrial robot by analyzing the frequency domain components of the acceleration signals;
and S9, collecting the acceleration signal as a parameter for optimizing the magnetorheological fluid vibration absorber, and repeating the steps S (4) to S (9) to obtain the optimized magnetorheological fluid vibration absorber.
10. The design method of the magnetorheological fluid vibration absorber for inhibiting the flutter of the intelligent spindle of the industrial robot according to claim 1, wherein the inherent frequency of the magnetorheological fluid vibration absorber (1) in a single direction is as follows:
wherein
Is the storage modulus, G, of the magnetorheological fluid (121) 0 、G ∞ 、α 1 And alpha 2 Is an empirical constant, B is the magnetic field strength generated by the excitation coil (24), M is the sum of the masses of the mass (11) and the shear plate (122), A 1 ＝4l 1 w 1 Is the sum of the areas of the shear blades (122), h 1 Is the distance between the shear blade (122) and the upper wall of the cylinder (123), G 2 Is the shear modulus of the silicone rubber (14),
is the contact area h between the silicon rubber (14) and the mass block (11) 2 Is the thickness of the silicone rubber (14).
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| CN116006630A (en) * | 2023-03-22 | 2023-04-25 | 南京航空航天大学 | Magnetorheological vibration reduction system and method for robot processing multi-frequency symbiotic flutter inhibition |
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