考虑偏差的刚柔耦合夹具气动机械手加载状态主动控制技术  

Active Control Technology of Pneumatic Manipulator Loading State for Rigid-flexible Coupling Fixture Considering Deviation

作　　者：付炎杰[1] 闵林锋 FU Yan-jie;MIN Lin-feng(Wenzhou Polytechnic,Wenzhou 325035,China)

机构地区：[1]温州职业技术学院,浙江温州325035

出　　处：《液压气动与密封》2024年第10期64-72,共9页Hydraulics Pneumatics & Seals

基　　金：温州职业技术学院横向课题(H2023075)。

摘　　要：当前刚柔耦合夹具气动机械手在夹取重量较大或形状复杂的工件时,加载状态会出现非线性震荡,造成控制偏差,降低控制平稳度。为了提升刚柔耦合夹具气动机械手加载状态主动控制效果,设计一种考虑偏差的刚柔耦合夹具气动机械手加载状态主动控制方法。考虑四种动界限情况计算刚柔耦合夹具气动机械手加载振荡;加载振荡下将偏差分为刚度偏差和柔度偏差,通过奇异函数和拉普拉斯变换计算等级刚度、挠度以及转角,获得气动机械手加载状态受力偏差;构建气动机械手和接杆的坐标系和运动坐标系,分析气动机械手终端位置矢量和驱动力矩的映射关联;通过PD反馈进行刚度偏差和柔度偏差补偿,完成加载状态主动控制。实验结果表明:该方法偏差补偿后,输出力矩更接近理想值,可准确计算刚柔耦合夹具气动机械手在加载状态中的挠度、回旋角度以及动态角度,使气动机械手加载状态主动控制更加平稳。The current rigid flexible coupling fixture pneumatic manipulator will experience nonlinear oscillations in the loading state when gripping workpieces with large weight or complex shapes,causing control deviation and reducing control smoothness.In order to improve the active control effect of the loading state of the rigid flexible coupling fixture pneumatic manipulator,a deviation based active control method for the loading state of the rigid flexible coupling fixture pneumatic manipulator is designed.Consider four types of dynamic boundary conditions to calculate the loading oscillation of the rigid flexible coupling fixture pneumatic manipulator;Under loading oscillation,the deviation is divided into stiffness deviation and flexibility deviation.The grade stiffness,deflection,and rotation angle are calculated through singular functions and Laplace transform to obtain the force deviation of the pneumatic robotic arm in the loading state;Construct the coordinate system and motion coordinate system of the pneumatic manipulator and the connecting rod,analyze the mapping relationship between the terminal position vector and the driving torque of the pneumatic manipulator;Compensate for stiffness deviation and flexibility deviation through PD feedback to achieve active control of loading status.The experimental results show that after deviation compensation,the output torque of this method is closer to the ideal value,which can accurately calculate the deflection,rotation angle,and dynamic angle of the rigid flexible coupling fixture pneumatic manipulator in the loading state,making the active control of the pneumatic manipulator in the loading state more stable.

关 键 词：刚柔耦合 夹具气动机械手 加载状态 主动控制 动界限情况 偏差控制 

分 类 号：TH138[机械工程—机械制造及自动化] TP241[自动化与计算机技术—检测技术与自动化装置]