Pneumatic Multi-degree-of-freedom Articulated Robot Developed

Pneumatics has numerous remarkable advantages, so that pneumatic robot is more and more applied in industrial automation. Especially in the flammable and explosive occasions and food processing industry, the pneumatic robot has incomparable advantages as to electronic, hydraulic robot. Because pneumatic rotary actuator is difficult to control and output the rotary angle accurately, the study on articulated pneumatic robot in which pneumatic rotary actuator is adopted is relatively rare. Therefore, the ones that are studied and used are generally rectangular pneumatic robots at present. But, compared with rectangular pneumatic robot, articulated pneumatic robot has larger workspace and meets more tasks. So, the study on articulated pneumatic robot has important theoretical and actual meanings.The purpose of the study is to design an articulated pneumatic robot. The main works accomplished in the paper include: (1) The pneumatic robot is designed. At the same time, a new-type pneumatic aided arrester is designed, which can control and output the rotary angle accurately of the pneumatic wrist. (2) The direct kinematics and inverse kinematics are analyzed, meanwhile, the workspace is analyzed. (3) The position technique of the articulated pneumatic robot is studied, which raises efficiently the stability and precision of system position. (4) The pneumatic circuit and the PLC-based control system are designed. (5) The system performances are tested, which are proved that the specifications are reached and the performance is good.By the theoretical research and practical experiment, the technical difficulties concerned with the articulated pneumatic robot have been resolved. A set of articulated pneumatic robot has been developed. This product can supply industry field with feasible technique criterions, and promote the application of the pneumatics in industry field.