本文選題：機械手 + 隨位平衡��； 參考：《液壓與氣動》2017年12期

【摘要】：針對氣動平衡助力機械手負載端力臂不斷變化的隨位平衡問題,提出通過反饋控制實現機械手隨位平衡方法。在采集氣缸輸出端壓力基礎上,將輸出壓力信號實時反饋給氣缸輸入端控制器——主氣控調壓閥,通過對主氣控調壓閥輸出端的氣壓調節(jié),使氣缸輸入端壓力和輸出端壓力達到動態(tài)平衡,實現機械手在負載端力臂變化情況下的隨位平衡。實驗結果表明:在額定載荷下,人手能輕便地移動機械手;當停止移動時,機械手在無手操縱力下能自動平衡。
[Abstract]:In order to solve the problem that the load end arm of pneumatic balancing manipulator is constantly changing, a feedback control method is proposed to realize the position balance of manipulator. On the basis of collecting the pressure at the output end of the cylinder, the output pressure signal is fed back to the controller at the input end of the cylinder, the main air-controlled pressure regulating valve, by regulating the air pressure at the output end of the main air-controlled pressure regulating valve. The pressure at the input end and the output end of the cylinder are dynamically balanced, and the position balance of the manipulator is realized when the load end arm changes. The experimental results show that the manipulator can be moved easily under rated load, and when it stops moving, the manipulator can be automatically balanced without hand control force.
【作者單位】： 中航飛機股份有限公司西安飛機分公司制造工程部;西安航空職業(yè)技術學院汽車工程學院;
【基金】：中航飛機股份有限公司西安飛機分公司青年創(chuàng)新基金(QCX201602)
【分類號】：TH138;TP241

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