气动力敏机械手指测力系统动态响应性能分析

气动力敏机械手指是利用气压测微技术和气膜柔性承载技术,将触觉传感器和普通机械手结合为一体,实现对工件无损伤抓取。测力系统是气动力敏机械手指在线实时检测接触力,研究测力系统的动态性能对检测控制系统的设计具有重要意义。介绍了气动力敏机械手指的结构及工作原理,推导了测力系统的传递函数,给出气膜承载力和刚度的计算方法,并采用MATLAB软件分析了测力系统的动态性能。结论为气动力敏机械手指测力系统的设计提供了理论基础。

Dynamic Response Performance Analysis for Measuring System of Pneumatic Force-sensitive Mechanical Finger

Pneumatic force-sensitive mechanical finger that makes use of finger pneumatic micrometer technology and air film flexible bearing technology combines tactile sensor with ordinary manipulator and captures workpiece atraumatically. Force measuring system is used for contact force on-line real-time detection, so studying its dynamic property is very important for the design of force measuring system. The paper introduces structure and work principle of pneumatic force mechanical finger. The transfer function of force-sensitive measuring system is derived; calculation method of air film bearing capacity and stiffness is given; the dynamic response of force measuring system is analyzed with the help of MATLAB. The conclusion provides theory basis for the design of force measuring system of pneumatic force mechanical finger.