气动机械手夹持力的控制系统研究

【作者】 邵晓光；

【导师】 吴张永；

【作者基本信息】 昆明理工大学 ， 机械制造及其自动化， 2008， 硕士

【摘要】 气动机械手的应用越来越广泛,特别是在一些工业装配过程中,利用气动机械手能提高工作效率,还可用在一些对人体健康不利的场合。不仅如此,机械手的应用已经向医疗、生活、娱乐扩展。在一些场合下,机械手指要夹取的东西是易损、易碎的,比如较薄的零件和鸡蛋等。这就要求手指能很好的“适应”这些物体,而不能对其造成任何损害。本文所做的研究就是要使气动手指能抓取鸡蛋等易碎物体。为此,先从人手的抓取机理分析开始,通过分析知道了人手的抓取机理和人手的神经构造。因此给气动手爪选取了类似于人手感觉神经的传感器。接着对气动系统进行了设计,选择了比例压力阀来控制气缸。这样就建立起了气动比例/伺服力控制系统。本设计给气动手爪施加一个很小位移产生的力作为最初的尝试力。这个初始力不是系统的关键部分,关键是对滑动的处理。初始夹持力的施加采用PID控制来校正。滑动信号及时、有效的处理就成为研究中至关重要的部分。经过分析最终采用模糊自适应PID控制。目的就是要通过模糊控制器对滑动信号进行处理,及时增加初始力值并同时调整PID参数。本文采用的是基于手指位置的夹持力自适应控制系统,并建立了基于位置的气动手指系统模型。最后通过MATLAB/SIMULINK和AMESim仿真分析,得出了PID控制能快速、准确的给手指施加一个初始力;而模糊自适应PID控制系统能迅速处理滑动信号并调整夹持力目标值和PID参数。因此,本文所作的研究无论是在学术上还是在实际应用中都具有十分重要的意义。更多还原

【Abstract】 The pneumatic manipulator is more and more broadly used. Especially in the process of industry assembly, pneumatic manipulator could improve work efficiency. And it also could be used in some situation that would endanger health. What is more, it’s application have been extending to medical care, domesticity and amusement. Under some situations manipulator is used to grab some delicate objects, for example thin spare parts and egg and so on. So the machine finger must adapt to these objects commendably and do not bring any damage.The research in this text want to make pneumatic manipulator have the ability to grab at ground objects for example eggs etc.. For that reason, I begin at the analysis grab mechanism of human hand, and get the picture of hand grab mechanism and it’s nerve constitution in analysis. So I select a sensor to pneumatic manipulator that analogous to hand sensory nerve. Then get on to design pneumatic system, and select the electrical valve to control air cylinder. In this way the pneumatic proportion-servo force control system has been builded.In this designing I exert pressure issue from placement upon pneumatic finger to serve as primal grab force. But this primal force is not the critical part of the system, pivotal piece is how to attend to glide. The PID control is used to adjust primal grab force. So the all-important part of research is attending to glide sign timely and availably. By analysis, author adopted blear self-adaptation PID control at the end. The goal is to use blear control device to attend to glide sign, and add to primal grab force value and at a time adjust PID parameter timely.The thesis employ grab force self-adaptation that base on finger placement, and build it’s mathematic model. At the end know PID control could give finger a primal force double-quick and accurately by simulation analysis using MATLAB/SIMULINK and AMESim software, and blear self-adaptation PID control could attend to glide sign allegro and adjust grab goal value and PID parameter. As a result, the research in this thesis have gallows important meaning no matter in academic research or actual application.更多还原