| As industrial technology rapid development in recent years, it is the common goal formany researchers to realize automation and intellectualization of the industrialmanufacturing production. Industrial robot has been widely used in every walk oflife.Beacause of the mist lacquer material using in spraying process is hazardous toworkers’ healthy, and the ambient condition of lighting and ventilation is atrocious, inaddition, it is difficult to improved fundamentally. As a result, research spraying robot whatcan improve working environment, reduce labor intensity, guarantee personal safety andcan improve the product quality and output, improve labor productivity, save raw materialsis urgent. In order to repair the car paint defect, this thesis puts more emphasis onmodeling analysis and researching on control method of pneumatic flexible manipulatorpolishing on paint finish. The main researches included:1. Refer to the principle of spring cylinder, spring cylinder mechanism with the adven-tages of simple structure, economic and practical and easy to measure and so on, was de-signed, so that mechanism will be far away from environmental restrictions.2. According to the advantages and disadvantages of all of the manipulator drive mo-de, the light, fast, high control accuracy and big flexible pneumatic driving way was choseas the pneumatic flexible manipulator drive mode; The single freedom manipulator experi-ment device was made, and using the experiment device research the work characteristicsof the single role cylinder, double role cylinder and pneumatic artificial muscle; At last, thesimple structure, economic and practical pneumatic flexible manipulator experiment devicewith five freedom was engineered by the demand of repairing automobile top finishing andthe results of experiment and research.3. In order to explore the control characteristics of the cybernetics core of pneumaticflexible manipulator, the electrical, magnetic, machinery and gas flow models of theelectromagnetic valve were analyzed and the equation of the coupling between the fourmodel was deduced. With MATLAB/simulink software, the relationship between theconduction time and air flow of electromagnetic valve was concluded, and the influence ofdifferential pressure and the air gap on the relationship was analyzed by the joint simulation analysis for the coupling models. Finally, this paper established the correspondingexperiment system, the same conclusion as simulation analysis was obtained, whichproved the accuracy of the models.4. Each unit of the manipulator was modeled. the dynamic simulation model of springcylinder mechanism was establishing by the dynamic simulation software ADAMS. In thecourse of modeling, the wirerope was first discrete into many small columns, and thenthese columns were connected by bushing force. The damping characteristic is known byactual measurement. In the same time, I found that the damper of cylinder is full up twoparts, the one is the common viscous damper, another one is the damper with obvioushysteresis characteristics. Go on joint simulation by the software of MATLAB/Simulink andADAMS, the input is the conduction time of the electromagnetic valve, the out put is thecorner of manipulator.5. Manipulator control model was disassembled and simplified according to the actualsituation. The model was decomposed into three matrices, they are motion unit, spring cyl-inder mechanism and electromagnetic valve unit. And then the inverse models were created respectively. In order to control accurately, the inverse model was amended by lots of ex-perimental measurements. In addition，Feed-forward compensation link was created ac-cording the theory of dynamiccompe ation. Finally get satisfied results.6. The way how to calculate the target values of manipulator with five freedom wasintroduced. The way was introduced that achieving control system by FPGA. Finally, themovement characteristic test was finished and the result was discussed and analysed. |
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