| 基于AMESim的自适应柔性夹具机械手指的动态特性研究 |
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| 引用本文： | 向琴,罗天洪,孙冬梅,李德山.基于AMESim的自适应柔性夹具机械手指的动态特性研究[J].重庆交通大学学报(自然科学版),2012,31(6):1215-1218. |
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| 作者姓名： | 向琴 罗天洪 孙冬梅 李德山 |
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| 作者单位： | 1. 重庆交通大学机电与汽车工程学院,重庆,400074
2. 中国石油勘探开发研究院采油采气装备研究所,北京,100083 |
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| 基金项目： | 重庆交通大学研究生创新基金项目 |
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| 摘 要： | 提出了一种基于液压驱动的仿手指自适应柔性夹具结构,根据其驱动系统工作原理及结构参数,建立了驱动系统的数学模型,及基于AMESim电液比例闭环控制系统的仿真模型;研究了放大比例增益值(K)对系统动态特性的影响,及PID控制器对机械手指动态特性的影响。结果表明:存在一个最佳K值,对系统的动、静态特性影响显著;加入PID控制器后,系统的精度和稳定性可得到明显改善。
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| 关 键 词： | 柔性夹具 机械手指 动态仿真 闭环控制系统 PID控制 |
Study of Dynamics Characteristics for Bionics Fingers of Self-Adaptive Flexible Fixture Based on AMESim |
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| Xiang Qin
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Luo Tianhong
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Sun Dongmei
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Li Deshan.Study of Dynamics Characteristics for Bionics Fingers of Self-Adaptive Flexible Fixture Based on AMESim[J].Journal of Chongqing Jiaotong University,2012,31(6):1215-1218. |
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| Authors: | Xiang Qin Luo Tianhong Sun Dongmei Li Deshan |
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| Institution: | 1 (1.School of Mechanics & Automobile Engineering,Chongqing Jiaotong University,Chongqing 400074,China; 2.Petroleum Equipment Department of Research Institute of Petroleum Exploration & Development,Beijing 100083,China) |
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| Abstract: | The self-adaptive flexible structure hydraulic-driven clamp was proposed.According to the working principle and the structure parameters of the driving system,a mathematical motel of the driving system was established and a simulation model of electro-hydraulic proportional closed-loop control system based on AMEsim was also established.The effect on the dynamic characteristics of bionics fingers from the K and PID controller were analyzed and studied.The results demonstrate that there is an optimum value K,which has a significant impact on dynamic and static characteristics of the system;and the accuracy and stability of the system are improved obviously after joining the PID controller. |
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| Keywords: | flexible fixture bionics fingers dynamic simulation closed-loop control system PID controller |
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