Modeling, Simulation, and Validation of Magneto-Rheological Dampers with LabVIEW

A well-known method for optimization of dynamic behavior of industrial robots is through applying magneto-rheological dampers in robots joints. In this paper, a new mathematical (virtual) model of a magneto-rheological damper for optimizing the dynamic behavior of robots is proposed which closely simulates a real damper, as validated by experimental research. The investigated dynamic behavior parameters include viscose global dynamic damper coefficient (VGDDC), viscose global dynamic damper equivalent coefficient (VGDDEC), global dynamic trans-missibility (GDT), and global dynamic compliance (GDC). The effect of these parameters on the magneto-rheological damper is analyzed on an arm-type robot and compared to no magneto-rhe-ological damping situation. The experimental setting of the damping force versus the intensity of the magnetic field and methods to optimize the dynamic behavior are also shown. The mathematical matrix-vector model for dynamic behavior analysis of the IR is presented with the viscous friction force, depending on the intensity of the applied electrical field, the force determining the online control of the variation of torque, and the Fourier vibration spectrum. Through new multi-parameter equations, the pattern adjustment operation to the real model becomes very simple and accurate.