非对称气电混合式机器人末端执行器及其静态力控特性研究
PDF下载 (291)张国龙,杨桂林,张 杰,刘立涛,邓益民.非对称气电混合式机器人末端执行器及其静态力控特性研究[J].宁波大学学报(理工版),2020,33(6):27-33.DOI:
ZHANG Guolong,YANG Guilin,ZHANG Jie,LIU Litao,DENG Yimin.The asymmetrical pneumoelectric robotic end-effector and its static force control characteristics[J].Journal of Ningbo University(Natural Science & Engineering Edition),2020,33(6):27-33.DOI:
| Title: | The asymmetrical pneumoelectric robotic end-effector and its static force control characteristics |
| 作者: | 张国龙, 杨桂林, 张 杰, 刘立涛, 邓益民 |
| Author(s): | ZHANG Guolong, YANG Guilin, ZHANG Jie, LIU Litao, DENG Yimin |
| 关键词: | 气电混合; 力控末端执行器; 气动力; 电磁力; 协调控制; 控制特性; 力-位移特性; 机器人 |
| Keywords: | pneumoelectric; end-effector with force control; pneumatic force; electromagnetic force; coordinated control; control characteristic; force-displacement characteristic; robot |
| 分类号: | TP24; TP27 |
| 文献标识码: | A |
| 摘要: | 针对现有气动式机器人力控末端执行器存在力控精度低和响应慢等缺点, 提出一种非对称气电混合式力控末端执行器, 采用变参数PID控制器对非对称气缸的气动力与永磁直线同步电机的电磁力进行协调控制, 实现机器人连续接触式作业中接触力的实时补偿与精确控制. 通过对气动系统、永磁电机和控制器等进行建模与仿真分析, 研究其控制特性与力-位移特性. 仿真结果表明, 相比气动力控系统, 气电混合式力控系统可有效消除摩擦力与跟随误差等引起的滞环和爬行现象, 控制特性最大误差由9.2N(2倍最大静摩擦力+动静摩擦力差值)减小至1N, 其力-位移特性最大误差由9.6N(2倍动摩擦力+气动力波动)也减小至1N, 提高了力控精度, 可提升机器人连续接触式作业质量. |
| Abstract: | To address the problem of low precision and slow response of the existing pneumatic robotic end-effector with force control, a novel asymmetrical pneumoelectric end-effector is proposed. Pneumatic force of asymmetric cylinder and electromagnetic force of Permanent Magnet Linear Synchronous Motor (PMLSM) are coordinated by variable parameter PID controller to achieve real-time compensation and precise control of the contact force in continuous contact operation of robot. Through modeling and simulation analysis of pneumatic system, PMLSM and controller, the control characteristics and force-displacement characteristics are both studied. The result shows that the pneumoelectric force control system can eliminate effectively the hysteresis and crawling phenomenon caused by friction and following errors compared to the pneumatic control system. The maximum error of the control characteristic is reduced from 9.2N (double the maximum static friction + dynamic and static friction difference) to 1N as well, and that of the force-displacement characteristic is also reduced from 9.6N (double the dynamic friction + pneumatic force fluctuation) to 1N. The quality of continuous contact operation can be improved by the pneumoelectric robotic end-effector with increased force control accuracy. |
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| 备注/Memo: | 收稿日期:2019-09-27.宁波大学学报（理工版）网址:http://journallg.nbu.edu.cn/ 基金项目:国家重点研发计划“智能机器人”重点专项（2018YFB1308900）;宁波市自然科学基金（2019A610114）;浙江省教育厅科研项目（Y202043544）. 第一作者:张国龙（1988－）,男,江西上饶人,博士研究生/讲师,主要研究方向:机器人、智能制造装备.E-mail:guolongzhang@aliyun.com *通信作者:杨桂林（1965－）,男,博士/研究员,主要研究方向:精密运动系统、先进机器人及智能制造装备.E-mail:glyang@nimte.ac.cn 宁波大学学报（理工版）网址：http://journallg.nbu.edu.cn/ |
