Pneumatic flexible manipulator with highly integrated electromechanical system and the control method

摘要

The article proposes a single-motor control air cavity selection mechanism, the planet carrier and the sheave mechanism installed on it produce a speed difference, and the intermittent nature of the sheave mechanism is stimulated to complete the "on-off"switching of the structural metamorphosis control trachea. Since the metamorphic signal can be regarded as a section of speed curve inserted in the normal speed signal, the speed "splicing-integral"control scheme is proposed to control the manipulator action. When several joints can be controlled in coordination, metamorphosis is not required, so it has cooperative joints. With the advantages of independent control, finally the entire palm is used as a constant pressure pump to accommodate the air cavity selection mechanism to provide power to the fingers. In this paper, a manipulator is used to make a "victory"gesture as an example, and MATLAB is used to verify the operation law of the air cavity selection mechanism. The reliability of the speed "splicing-integral"control scheme and the feasibility of a single motor for full-degree-of-freedom control are verified. Finally, in addition to the manipulator, this structure can also underdrive various sequential control structures or control systems with low response requirements, especially to protect the motor and its control accuracy under conditions with large power requirements. It is proposed in this paper. The combination of the speed "splicing-integral"control scheme can obtain good practical effects.

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