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A magnetorheological elastomer （MRE） vibration absorber is designed to suppress the vibration of industrial robotic milling in order to solve the low frequency chatter problem. The magnetorheological effect of MRE with different mass ratio is studied by using the unique rheological characteristics of MRE. The number of turns of coil and the current in the absorber are determined by theoretical calculation and numerical simulation. It is found that the designed MRE absorber has frequency shift characteristics in the range of 17.35~45.21 Hz through modal simulation and shaking table sweeping excitation experiment. The mapping relationship between natural frequency of absorber and current is established，which is verified by experiments in the milling process of KUKA KR500 robot. The results show that the robot is prone to chatter at its low order natural frequency under low rotational speed machining conditions，and the chatter suppression of the robot is realized by MRE absorber. Compared with the condition without vibration absorber，the peak-to-peak value of the vibration acceleration in the X direction of the robot spindle is reduced by 70.7%，and the root-mean-square value is reduced by 64.7% after being electrified. The peak-to-peak value in the Y direction is decreased by 54.7%，and the root-mean-square value is decreased by 49.9%. In addition，the machining surface quality of workpieces after milling has also been significantly improved.
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| 科 Family | 属数 Number of genus | 种数 Number of species | 占总种数比例 Percentage of total species (%) | 属 Genus | 种数 Number of species | 占总种数比例 Percentage of total species (%) |
|---|---|---|---|---|---|---|
| 鹅膏菌科Amanitaceae | 2 | 11 | 5.26 | 鹅膏菌属 Amanita | 10 | 4.78 |
| 小菇科 Mycenaceae | 2 | 12 | 5.74 | 丝盖伞属 Inocybe | 5 | 2.39 |
| 多孔菌科 Polyporaceae | 8 | 14 | 6.70 | 蜡蘑属 Laccaria | 5 | 2.39 |
| 红菇科 Russulaceae | 3 | 23 | 11.00 | 小皮伞属 Marasmius | 6 | 2.87 |
| 小菇属 Mycena | 11 | 5.26 | ||||
| 光柄菇属 Pluteus | 5 | 2.39 | ||||
| 红菇属 Russula | 17 | 8.13 | ||||
| 栓菌属 Trametes | 5 | 2.39 |
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