机械反馈式主从机械手控制系统研究  

Research on Mechanical Feedback Master-slave Manipulator Control System

作　　者：杨明明[1] 熊娜[2] YANG Ming-ming;XIONG Na(College of Railway Locomotive and Rolling Stock,Wuhan Railway Vocationaland Technical College,Wuhan,Hubei 430205;College of Mechanical and Electrical Engineering,Nanchang Institute of Technology,Nanchang,Jiangxi 330044)

机构地区：[1]武汉铁路职业技术学院铁道机车车辆学院,湖北武汉430205 [2]南昌理工学院机电工程学院,江西南昌330044

出　　处：《液压与气动》2022年第10期132-138,共7页Chinese Hydraulics & Pneumatics

基　　金：江西省教育厅科学技术研究项目(GJJ191020);湖北省教育厅科技支撑行动计划项目(BXLBX1223)。

摘　　要：针对恶劣作业环境下传统主从机械手控制系统存在安全性和可靠性较差的问题,研制了一种以单轴工作台和精密压力调节器为主、气动定位装置为辅的机械反馈式主从机械手控制系统。首先,研究了该系统的工作原理并给出了一个工作示例;然后,设计了一种气动定位装置,并对其进行了详细建模;其次,制备了系统的原型实验装置,并单独对气动定位装置进行了阶跃响应实验;最后,对整体系统进行了阶跃响应、重复输入响应和手动单调增加输入响应等多方面特性分析,并将观测结果与仿真结果进行了比较。结果表明:该系统的各种响应结果与仿真结果吻合较好;该系统在气管长度为20 m左右时,阶跃响应的上升响应延迟在0.2 s以内,目标位移的误差约为2.2%;系统通过改变皮带轮齿数,可以任意缩放主机位移并传递给从机,十分适用于作业速度相对较低的应用场合。Aiming at the poor safety and reliability of the traditional master-slave manipulator control system in harsh operating environment, a mechanical feedback master-slave manipulator control system with a single-axis Tab. and a precision pressure regulator as master, a pneumatic positioning device as slave. First, the working principle of the system was studied and a working example was given. Then, a pneumatic positioning device was designed and modeled in detail. Secondly, a prototype experimental setup of the system was prepared and a step response experiment was conducted for the pneumatic positioning device alone. Finally, the characteristics of the overall system are in various aspects such as step response, repetitive input response and manual monotonic increasing input response, and the observed results were compared with the simulation results. The research results show that the various response results of the system are in good agreement with the simulation results;the rising delay of the step response of the system is within 0.2 s when the length of the air tube is about 20 m, and the deviation of the target displacement is about 2.2%;the system can arbitrarily scale the displacement of the master and transmit it to the slave by changing the number of pulley teeth, which is very suitable. for the applications with relatively low operating speed.

关 键 词：机械反馈 主从系统 气缸 气动定位 阶跃响应 稳态特性 

分 类 号：TH138[机械工程—机械制造及自动化]