介绍了一种新型结构的适用于抑震机器人的旋转式磁流变阻尼器。基于磁流变液与磁芯材料特性，得出了适用于该种磁流变阻尼器结构的磁路设计方法，应用该方法对阻尼器进行了磁路设计，得到了阻尼器的相关机械参数与电气参数。针对阻尼器结构特点，应用有限元软件ANSYS提供的参数化设计方法，对阻尼器进行了三维电磁场分析，获得了阻尼器模型的电磁场物理量和力学性能参数，应用ANSYS的分析结果与磁流变液的本构关系，对阻尼器的力学性能进行了预估。在此基础上，研制了磁流变阻尼器及其力学性能测试系统，对阻尼器的力学性能进行了试验研究，得到了阻尼器的力矩—转速、屈服力矩—电流等力学特性，并对试验结果进行了分析，试验结果表明，所研制的磁流变阻尼器具有较理想的力学性能。

A novel rotary magnetorheological damper for tremor suppression robot is presented. Base on properties of magnetorheological fluid and magnetic core material, the magnetic circuit design method suitable for the structure of the damper was worked out, the magnetic circuit was designed used the design method, the mechanical and the electric parameters of the damper were calculated. Depending on mechanical structure characteristics, built the 3D model of the damper with the ANSYS APDL, after completed magnetic solution, magnetic field quantities and mechanics performance parameters of the damper were got. With the results of the magnetic analysis and the constitutive relations, the performance prediction of the damper was realized. Then the magnetorheological damper and the mechanical performance test system were developed, the mechanical performance of the damper was researched used the test system, the damper’s properties: torque vs rev and yield torque vs current were obtained, and these results was analysed, these experimental results show that the mechanical performance of the magnetorheological damper is similar with the expectation.