磨抛机器人气电力控末端执行器负载特性

Load Characteristics of Pneumoelectric End-effector with Force Control for Grinding and Polishing Robot

针对现有船舶制造业中人工打磨或砂带磨削等磨抛作业难以满足智能制造需求的现状,提出一种面向船舶磨抛机器人的气电混合式力控末端执行器,采用自适应变参数PID控制器对非对称气缸的气动力与大推力永磁直线同步电机的电磁力进行协调控制,实现作业接触力的实时补偿与精确控制。通过对气动系统、永磁直线同步电机系统、环境工件、力和速度控制器等进行建模与数值仿真,研究其负载波动响应与抗负载冲击特性。仿真结果表明,相比气动力控系统,气电混合式力控系统可消除气动系统振荡特性的影响,在35 Hz范围内振动负载作用下的最大力波动幅值由138 N(约为稳态值46%)减小至25 N(约为稳态值8.4%);在阶跃负载作用下气缸活塞杆位移振荡和接触力冲击次数显著减少,调整时间分别为前者的32.3%和27.3%,有效提高了抗负载波动与冲击特性,可提升船舶磨抛机器人的作业质量。

Aiming at the current situation that the manual polishing or abrasive belt grinding and polishing operations in the current shipbuilding industry are unable to meet the requirements of intelligent manufacturing,the pneumoelectric end-effector with force control for grinding and polishing robot is proposed.The adaptive variable parameter PID controller is used to coordinated control the aerodynamic force of the asymmetric cylinder and the electromagnetic force of the high-thrust permanent magnet linear synchronous motor to realize real-time compensation and precise control of the contact force of the work.The simulation results show that,compared with the pneumatic control system,the pneumoelectric force control system can eliminate the influence of the oscillation characteristics of the pneumatic system,and the maximum force fluctuation amplitude under the vibration load in the range of 35 Hz is reduced from 138 N(about 46%of the steady-state value)to 25 N(about 8.4%of the steady-state value).Under the action of step load,the number of displacement oscillation and contact force impact of cylinder piston rod is significantly reduced,and the adjustment time is 32.3%and 27.3%respectively of the former,which effectively improves the anti-load fluctuation and impact characteristics,and the operation quality of ship grinding and polishing robot can be improved.