Pneumatic Manipulator Clamping Force Control System

The pneumatic manipulator is more and more broadly used. Especially in the process of industry assembly, pneumatic manipulator could improve work efficiency. And it also could be used in some situation that would endanger health. What is more, it's application have been extending to medical care, domesticity and amusement. Under some situations manipulator is used to grab some delicate objects, for example thin spare parts and egg and so on. So the machine finger must adapt to these objects commendably and do not bring any damage.The research in this text want to make pneumatic manipulator have the ability to grab at ground objects for example eggs etc.. For that reason, I begin at the analysis grab mechanism of human hand, and get the picture of hand grab mechanism and it's nerve constitution in analysis. So I select a sensor to pneumatic manipulator that analogous to hand sensory nerve. Then get on to design pneumatic system, and select the electrical valve to control air cylinder. In this way the pneumatic proportion-servo force control system has been builded.In this designing I exert pressure issue from placement upon pneumatic finger to serve as primal grab force. But this primal force is not the critical part of the system, pivotal piece is how to attend to glide. The PID control is used to adjust primal grab force. So the all-important part of research is attending to glide sign timely and availably. By analysis, author adopted blear self-adaptation PID control at the end. The goal is to use blear control device to attend to glide sign, and add to primal grab force value and at a time adjust PID parameter timely.The thesis employ grab force self-adaptation that base on finger placement, and build it's mathematic model. At the end know PID control could give finger a primal force double-quick and accurately by simulation analysis using MATLAB/SIMULINK and AMESim software, and blear self-adaptation PID control could attend to glide sign allegro and adjust grab goal value and PID parameter. As a result, the research in this thesis have gallows important meaning no matter in academic research or actual application.