Open AccessDesign and analysis of a single adjustable damping force robotic leg working with magnetorheological technology
Author(s) -
Yifan Jiang,
Qimin Li,
Zijian An
Publication year - 2021
Publication title -
journal of physics. conference series
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.21
H-Index - 85
eISSN - 1742-6596
pISSN - 1742-6588
DOI - 10.1088/1742-6596/1887/1/012014
Subject(s) - magnetorheological fluid , damper , cushioning , exoskeleton , magnetorheological damper , displacement (psychology) , cushion , control theory (sociology) , counterweight , slip (aerodynamics) , simulation , computer science , engineering , structural engineering , psychology , control (management) , artificial intelligence , psychotherapist , aerospace engineering
Aiming at the problems of leg’s huge impact faced by legged robot in running movements, an adjustable damping force robotic leg working with magnetorheological technology was designed. The mechanism of how the magnetorheological damper adjusts the damping force of the robotic leg is analyzed. Based on SLIP model, the dynamic of the robotic leg was established. With Foot contact force, the displacement of the hip joint in the vertical direction and the loss of leg’s energy as the optimization objectives, the optimal damping force at different velocity was obtained by weight optimization algorithm, and the curve of the optimal damping force of the leg varying with the speed of the body is fitted. The cushioning capacity of the leg was simulated and verified at a speed of 4 meters per second, and the results showed that the structure with adjustable damping force meet the requirements of high cushion performance in running movements.