Assisted Optimisation of the Robot Dynamic Behavior with Magnetorheological Damper

摘要

The paper showed the assisted research of one magnetorheological damper and the influences to the dynamic behavior of the industrial robots. The research contents the assisted theoretical simulation of the new mathematical model, the parameterization of the known characteristics of the magnetorheological damper and the assisted establish of the influences of the model coefficients to the characteristics parameters. In the assisted experimental research was established the values of all coefficients of the proper mathematical model to assure the concordance between the experimental and the theoretical characteristics. By knowing the real mathematical model of the damper was possible to develop the new matrix -vector form of the force-moment and the research of the global dynamic behavior of the industrial robot with proper smart damper system.