气动平衡助力机械手反馈控制系统设计

发布时间：2018-07-10 18:22

本文选题：机械手 + 随位平衡　；参考：《液压与气动》2017年12期

【摘要】：针对气动平衡助力机械手负载端力臂不断变化的随位平衡问题,提出通过反馈控制实现机械手随位平衡方法。在采集气缸输出端压力基础上,将输出压力信号实时反馈给气缸输入端控制器——主气控调压阀,通过对主气控调压阀输出端的气压调节,使气缸输入端压力和输出端压力达到动态平衡,实现机械手在负载端力臂变化情况下的随位平衡。实验结果表明:在额定载荷下,人手能轻便地移动机械手;当停止移动时,机械手在无手操纵力下能自动平衡。
[Abstract]:In order to solve the problem that the load end arm of pneumatic balancing manipulator is constantly changing, a feedback control method is proposed to realize the position balance of manipulator. On the basis of collecting the pressure at the output end of the cylinder, the output pressure signal is fed back to the controller at the input end of the cylinder, the main air-controlled pressure regulating valve, by regulating the air pressure at the output end of the main air-controlled pressure regulating valve. The pressure at the input end and the output end of the cylinder are dynamically balanced, and the position balance of the manipulator is realized when the load end arm changes. The experimental results show that the manipulator can be moved easily under rated load, and when it stops moving, the manipulator can be automatically balanced without hand control force.
【作者单位】：中航飞机股份有限公司西安飞机分公司制造工程部;西安航空职业技术学院汽车工程学院;
【基金】：中航飞机股份有限公司西安飞机分公司青年创新基金(QCX201602)
【分类号】：TH138;TP241

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