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摘要近20年来，气动技术的应用领域迅速拓宽，尤其是在各种自动化生产线上得到广泛应用。电气可编程控制技术与气动技术相结合，使整个系统自动化程度更高，控制方式更灵活，性能更加可靠；气动机械手、柔性自动生产线的迅速发展，对气动技术提出了更多更高的要求；微电子技术的引进，促进了电气比例伺服技术的发展，现代控制理论的发展，负气动技术从开关控制进进闭环比例伺服控制，控制精度不断进步；由于气动脉宽调制技术具有结构简单、抗污染能力强和本钱低廉等特点，国内外都在大力开发研究。23994
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气动机械手通用性强，机械手臂采用气流负压式吸盘或是夹持式，能实现手腕回转运动，按照抓取工件的要求，手臂有三个自由度，即手臂的伸缩、左右回转、和上下升降运动。回转与升降运动是通过立柱来实现的。横向移动为手臂的横移，手臂的各种运动都是由气缸来实现的，由于气压传动系统动作迅速、反应灵敏、阻力损失和泄漏较小，成本低廉，有一定的承载能力，在足够的工作空间以及在任意位置都能自动定位等特性。
本论文设计一个可供学生实验使用的气动机械手，拥有旋转，俯仰，伸缩三个自由度，并且手腕部分增加一个翻转，学生在实验中可以通过不同的气动回路来控制机械手完成合作动作。机械手手部采用吸盘式，旋转由气缸推动齿轮齿条完成，俯仰由气缸推动机架完成，伸缩由气缸伸缩完成，手腕部位增加铰链结构，来满足手腕的翻转。机械手控制方式采用全气动控制。
毕业论文关键词：气动；机械手；实验；合作动作
Abstract The past 20 years , pneumatic technology applications quickly expanding, especially widely used in a variety of automated production line. Electrically programmable control technology and pneumatic technology combine to make the whole system a higher degree of automation, control more flexible , more reliable performance ; rapid development of pneumatic manipulator , flexible automatic production line of pneumatic technology made more higher requirements ; introduction of microelectronics technology, promoting the development of electric proportional servo technology, the development of modern control theory , negative pneumatic technology from the switch control to enter the closed-loop proportional servo control, the control precision progress ; due to the pneumatic pulse-width modulation technique has a simple structure , anti- pollution ability and low cost characteristics, strong research and development at home and abroad .
Pneumatic Manipulator versatility, mechanical arm using negative pressure suction airflow or clip-on , wrist turning motion can be achieved , in accordance with the requirements of the workpiece grab arm has three degrees of freedom , namely, telescopic arm , turn around , and up and down movements movement. Rotary and lifting movement is achieved through the column . Lateral movement of the arm traverse various sports arm are achieved by a cylinder due to pneumatic drive system moves quickly , responsive , less pressure loss and leakage , low cost , there is a certain carrying capacity, in sufficient and a working space can be automatically positioned at any location and other characteristics .
In this thesis, an experiment for students to use pneumatic manipulator , with pan, tilt , telescoping three degrees of freedom , and the addition of a flip wrist part , the students in the experiment can control the robot pneumatic circuit completely through various cooperative action. Robot Hand using sucker , rotary rack and pinion done by pushing the cylinder , the cylinder pushing the rack pitch completed , retractable telescopic completed by the cylinder , increased wrist hinge structure to meet the wrist flip. Robot control method using all-pneumatic control.
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