比例调压阀PWM控制气动力感的再现装置

Research on Pneumatic Force Feel Reappearing Device of Proportional Pressure Regulating Valve Based on PWM Control

提出一种气动装置以实现在主从式机器手系统中产生力觉临场感。该装置由机械气动结构与PWM控制器两部分组成。详细介绍了力感再现装置力感形成原理与控制方法,搭建了压力修正实验与应力采集实验。实验结果表明,所设计的PWM控制器精确实现了力感驱动气缸的压力控制。该装置用在主从式机器手系统中,能够良好地实现力觉临场感。

A pneumatic device is proposed to realize the force telepresence of master-slave robot system,which consists of both mechanoical-pneumatic structure and PWM controller. Operational principle of force feel and control method of the pneumatic device are introduced in detail. The experiments of pressure correction and stress acquisition are designed. Experimental results prove that the PWM controller is able to precisely realize the pressure control of force feel driving pneumatic cylinders. Applying this device to the master-slave robot system,which can well realize the force telepresence.