崎岖地面环境下气动多自由度机械手位置控制仿真研究  

Simulation Research on the Position Control Strategy for Pneumatic Robot above Rough Ground

作　　者：李斌杰[1] 施光林[1] 

机构地区：[1]上海交通大学机械与动力工程学院,上海200240

出　　处：《机电一体化》2016年第4期3-7,共5页Mechatronics

摘　　要：气动系统具有良好的柔顺性,且具有干净、安全、轻巧和成本相对低廉的优点,适应在特殊环境下工作。当气动机械手被运用在行走机械上,变化的路面环境会对机械手末端点控制带来困难,因此,对气动多自由度机械手在崎岖路面环境下的末端位置控制具有现实意义。通过搭建六自由度电动仿真平台模拟崎岖地面环境,设计气动多自由度机械手,提出压力补偿PID的控制方法。通过Simulink与AMESim的联合仿真研究验证了带压力补偿的位置闭环PID算法对气动机械手控制的有效性。Pneumatic system has good flexibility, and has clean, safe, light and relatively low cost as its advan- tages, which make it is able to work in special environment. However, control strategy has to be modified when the pneumatic robot worked on a walking machine. So research on the position control strategy for pneumatic robot above rough ground has practical application. In this paper, a 6-DOF electric platform has been built for simulating rough ground and a pneumatic robot has been built. Through co-simulation by Simulink and AMESim, the effectiveness of pressure compensation PID control method has been proved.

关 键 词：崎岖地面 气动多自由度机械手 摆动气缸 六自由度平台 压力补偿PID控制 

分 类 号：TP241[自动化与计算机技术—检测技术与自动化装置]