噪声与振动控制2026，Vol.46Issue(3)：69-75,117,8.DOI:10.3969/j.issn.1006-1355.2026.03.011
基于磁流变剪切增稠阻尼器的柔性机械臂振动抑制研究
Vibration Suppression of Flexible Manipulators Based on Magnetorheological Shear Thickening Dampers
摘要
Abstract
Aiming at the significant vibration problems of flexible manipulators caused by the structural flexibility during operation,a novel intelligent damper based on Magnetorheological Shear Thickening Fluid(MRSTF)was proposed.The MRSTF material combines the nonlinear rheological behavior of Shear Thickening Fluid(STF)with the controllable damping characteristics of Magnetorheological Fluid(MRF)to realize precise control of the damping force through regulating the applied magnetic field.A mechanical model was developed for the damper based on MRSTF material property,and its performance was verified through rigorous fatigue testing.Simultaneously,the damper was integrated into the flexible manipulator model,and simulation analysis was conducted to evaluate its vibration attenuation effectiveness in detail.Additionally,an experimental platform was built for verification.The experimental results show that,compared with conventional MR dampers,the MRSTF damper exhibits superior performance in reducing the amplitude of residual vibrations and shortening the steady-state time.Its controllable damping characteristics significantly enhance the dynamic stability and control precision of the flexible manipulators.关键词
振动与波/柔性机械臂/振动控制/智能材料阻尼器/动力学建模/磁流变剪切增稠液Key words
vibration and wave/flexible manipulator/vibration control/intelligent material damper/dynamic modeling/MRSTF分类
机械制造引用本文复制引用
秦帅帅,赵倩..基于磁流变剪切增稠阻尼器的柔性机械臂振动抑制研究[J].噪声与振动控制,2026,46(3):69-75,117,8.基金项目
国家自然科学基金(52205113) （52205113）
上海市青年科技英才"扬帆"计划项目(21YF1430600) （21YF1430600）
