Modeling and Analysis of a High-Speed Adjustable Grasping Robot Controlled by a Pneumatic Actuator
Modeling and Analysis of a High-Speed Adjustable Grasping Robot Controlled by a Pneumatic Actuator
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DOI：
10.3390/robotics11010027
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发表时间：
2022-02
期刊：
影响因子：
3.7
通讯作者：
K. Ohara;Ryosuke Iwazawa;M. Kaneko
中科院分区：
文献类型：
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作者：
K. Ohara;Ryosuke Iwazawa;M. Kaneko
本文讨论了一种由气动执行器控制的高速可调抓取机器人的建模与分析。该机器人由两个夹持器、两条用于连接气动缸和具有夹持器关节的臂的导线以及两个用于控制夹持器停止点的制动器组成。通过向气缸内提供压缩空气，两个夹持器与臂一起向前移动，并通过调节气缸内的气压来捕获物体。在捕获目标物体后，系统可以通过使用另一个端口改变气缸中的压力空气来释放物体。通过考虑空气的状态方程，我们得到了机器人的动力学模型，包括执行机构。通过数值模拟，我们表明，模拟结果可以解释从开发的机器人系统的实验结果。通过实验，我们证实了所研制的高速抓取机器人能够以300 mm/s的速度抓取间隙为±15 mm的连续运动物体。
This paper discusses the modeling and analysis of a high-speed adjustable grasping robot controlled by a pneumatic actuator. The robot is composed of two grippers, two wires for connecting a pneumatic cylinder and an arm with gripper joints with a spring as well as two stoppers for controlling the gripper stopping point with a brake. By supplying pressurized air into the pneumatic cylinder, the two grippers move forward together with the arm and capture the object by adjusting the air pressure in the cylinder. After capturing the target object, the system can release the object by changing the pressure air in the air cylinder using another port. By considering the state equation of the air, we obtain a dynamic model of the robot, including the actuator. Through numerical simulation, we show that the simulation results can explain the experimental results from the developed robot system. Through our experiments, we confirm that the developed high-speed grasping robot can grasp continuously moving objects with a gap of ±15 mm at 300 mm/s.