摘要
对能抓取易碎物体的气动手指进行了研究,采用气动手指位置的夹持力自适应控制系统,建立了气动手指系统模型,并通过AMESim仿真分析,利用PID控制技术提高了系统的稳定性。
The pneumatic finger that can grab fragile objects was designed, for which self-adaptation grip torce control system based on finger placement was adopted. The mathematic model of pneumatic finger was built. The simulation result of AMESim software shows that the system stability is improved by PID control.
出处
《机床与液压》
北大核心
2008年第12期116-117,共2页
Machine Tool & Hydraulics
关键词
气动手指
夹持力
气动比例/伺服控制
Pneumatic finger
Grip force
Pneumatic proportion/servo control
