|
|
A Excogitation of Function Configurable Manipulator Based on the Intelligent Cylinder |
JIANG Ning,YAO En-tao,ZOU Hua-zhang,JIA Shang-yuan |
College of Automation Engineering, Nanjing University of Aeronautics & Astronautics,Nanjing, Jiangsu 210016, China) |
|
|
Abstract 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.
|
Received: 15 April 2016
Published: 11 February 2018
|
|
|
|
|
[1]刘火良, 杨森. STM32库开发实战指南[M]. 北京:机械工业出版社, 2014.
[2]郭世军. 直线气缸的位置控制研究[D]. 兰州:兰州理工大学, 2007.
[3]李建藩. 气压传动系统动力学[M]. 广州:华南理工大学出版社, 1991.
[4]杨远超. 活塞压力计自动化校准方法研究[J]. 计量学报, 2017,38(6): 708-712.
[5]宓莎, 高枫, 赵岩. 基于MATLAB的气缸运动建模与仿真[J]. 科技信息, 2011, (20):130-132.
[6]Xuan B T, Yanada H. Dynamic Friction Behaviors of Pneumatic Cylinders [J]. Intelligent Control & Automation, 2013, 4(2):180-190.
[7]Armstrong-Hélouvry B, Dupont P, De Wit C C. A survey of models, analysis tools and compensation methods for the control of machines with friction[J]. Automatica, 1994, 30(7):1083-1138.
[8]Yanada H, Sekikawa Y. Modeling of dynamic behaviors of friction[J]. Mechatronics, 2008, 18(7):330-339.
[9]De Wit C C, Olsson H, Astrom K J, et al. A New Model for Control of Systems with Friction[J]. IEEE Transactions on Automatic Control, 1995, 40(3):419-425.
[10]黄俊, 李小宁. 气缸爬行现象的建模与仿真[J]. 液压与气动, 2004, (6):20-23.
[11]马延峰, 张百海, 彭光正. 气缸运动建模及爬行现象判别[J]. 机床与液压, 2006, (7):159-161. |
|
|
|