基于智能气缸的功能可配置机械手的设计  

A Excogitation of Function Configurable Manipulator Based on the Intelligent Cylinder

作　　者：姜宁[1] 姚恩涛[1] 邹华章 夹尚远 

机构地区：[1]南京航空航天大学自动化学院,江苏南京210016

出　　处：《计量学报》2018年第2期173-177,共5页Acta Metrologica Sinica

基　　金：国家科技支撑计划(2012BAA01B02)

摘　　要：介绍一种基于智能气缸的功能可配置机械手的工作原理和设计方法。智能气缸是将单片机、传感器、电磁阀集成到气缸内部形成的智能单元;建立气缸动作的数学模型并进行仿真;针对快速灵活配置的要求,设计了基于组态的、图形化的功能配置方法,使得各种功能不同的智能气缸快速配置需要的机械手的功能。实验证明,该设计方法可以实现机械手的基本功能,并为实现机械手的多功能、低成本、灵活性提供一种新的方案。The working principle and excogitation method of a function configurable manipulator based on Intelligent cylinder is introduced. Intelligent cylinder is an intelligent unit with integrating SCM,sensors and electric-magnetic valve into cylinder. It has been done that establishing mathematical model of the cylinder action for simulation, designing a configured method for requirement of fast and flexible configuration which can make all kinds of functions of intelligent cylinder configuring rapidly to the required function of manipulator. Experiments show that this design method can realize the basic function of the manipulator, and the excogitation method provides a new solution for the multi-function, low-cost and flexibility of the manipulator.

关 键 词：计量学 气动机械手 智能气缸 功能配置 建模仿真 

分 类 号：TB93[一般工业技术—计量学]