基于比例调压阀的气动力觉系统开发

Pneumatic Force Feel System with Proportional Pressure Regulating Valve

开发出一种用于夹钳式主从机器手的气动力觉系统。该系统可使操作者在主从操作中具有夹持力觉临场感,避免破坏易碎的操作对象。详细介绍了机械气动结构、力矩传感器的设计、位置传感器的安装。设计了主手PID控制器,实现对主机器手的位移信号发送与力矩伺服控制。制作试验样机并搭建了试验平台。通过对系统动态特性的分析验证了系统方案的可行性。

A pneumatic force feel system is proposed for a clamp type master-slave robot. Operators can obtain the grasping force and avoid damnifying the crisp objects in master-slave operation by the system. Mechanical pneumat- ic structure, torque sensor and the installation of position sensor are introduced in detail. A master robot PID con- troller is designed to realize the position signal transmission and torque servo control of master robot. The feasibility of the system is validated by experiment.