玻璃搬运机械手电液伺服系统设计  

Design of Electro-Hydraulic Servo System for Glass Moving Manipulator

作　　者：冯开林[1] 王天一[2] 宋兰[2] 翟亚楠[1] 崔伟强[2] FENG Kailin;WANG Tianyi;SONG Lan;ZHAI Yanan;CUI Weiqiang(School of Automation,Shandong University of Science and Technology,Qingdao Shandong 266590,China;Mechanical and Electronic Engineering College,Shandong University of Science and Technology,Qingdao Shandong 266590,China)

机构地区：[1]山东科技大学自动化学院,山东青岛266590 [2]山东科技大学机电工程学院,山东青岛266590

出　　处：《机床与液压》2018年第15期64-67,共4页Machine Tool & Hydraulics

摘　　要：根据玻璃搬运工况特点,需要机械手快速、稳定、精确地靠近玻璃,并且机械手能够稳定地将玻璃夹起并放进集装箱内。采用电液伺服技术设计了玻璃搬运机械手的控制系统,绘制出液压系统原理图,给出主要元件的选型计算,分析其静态、动态特性,确定动力元件的传递函数,并通过MATLAB软件画出系统的开环和闭环对数频率特性曲线,确定该控制系统响应速度快,稳定性好,符合设计要求。According to the characteristics of glass moving conditions,the manipulator needs to approach to the glass quickly,stably and accurately. The glass can be holden stably and put it in the container by the manipulator. The control system of glass moving manipulator was designed by using the electro-hydraulic servo technology,and drawn the schematic diagram of the hydraulic system.The selection calculation of the main components was given,the static and dynamic characteristics were analyzed,and the transfer function of the power components was determined. The open-loop and closed-loop logarithmic frequency characteristic curves of the system were drawn by MATLAB software. Make sure that the control system has high response speed and good stability,and can meet the design requirements.

关 键 词：玻璃搬运 机械手 电液伺服系统 MATLAB 

分 类 号：TP241[自动化与计算机技术—检测技术与自动化装置]