气动机械手柔性抓取控制系统设计与仿真分析  

Design and Simulation Analysis of the Flexible Control System of the Pneumatic Manipulator

作　　者：武鹏飞[1] 吴张永[1] 邵晓光[1] 

机构地区：[1]昆明理工大学流体控制工程研究所,云南昆明650093

出　　处：《机床与液压》2008年第12期116-117,共2页Machine Tool & Hydraulics

摘　　要：对能抓取易碎物体的气动手指进行了研究,采用气动手指位置的夹持力自适应控制系统,建立了气动手指系统模型,并通过AMESim仿真分析,利用PID控制技术提高了系统的稳定性。The pneumatic finger that can grab fragile objects was designed, for which self-adaptation grip torce control system based on finger placement was adopted. The mathematic model of pneumatic finger was built. The simulation result of AMESim software shows that the system stability is improved by PID control.

关 键 词：气动手指 夹持力 气动比例/伺服控制 

分 类 号：TH137[机械工程—机械制造及自动化]