Research And Manufacture On 600kg High Precision Pneumatic Power Assist Experiment System

With the development of Intelligent Manufacturing Industry 4.0, intelligent auxiliary power assist equipment is increasingly needed to complete or help people manually handling or sorting large load in machinery, transportation, automobile manufacturing and other industries. Among those technologies, the pneumatic power assist and balance manner have a increasingly wide range of applications in mechanical, chemical, pharmaceutical, textile, microelectronics, food, biological engineering, transportation and other fields with its low cost, high efficiency, large power to weight ratio, non-polluting, energy-saving, easy to use and maintain, Antimagnetic, explosion-proof, fire prevention and a series of advantages.Currently the most widely-used pneumatic power assist mechines use constant gravity compensation, Cause the load torque will keep changing in motion process, the tracking error will always exists in conventional constant gravity compensation, it is difficult to make it to high-precision position control applications. Thus, it is significant to develop a pneumatic power assist device for high-load and high-precision useing.Firstly, we should know parameters exactly of power assist mechine according to the project requirements, then complete the establishment of the overall model and generally determine the mechanical structure of it. At the same time, we completed the initial model selection of work drive and gravity compensation device through the design of the structure and completed the structural and electrical design and other aspects of the experimental apparatus. According to the working principle and structure of test equipment, we completed the establishment of the joint coordinate system and the kinematics and dynamics analysis of it,and determined kinematics and dynamics and spatial relationships equation of the location of the end device and three joint rotation angle. And then plan three trajectory according to the work environment. Finally, make kinematics and dynamics simulation analysis of planning path by theoretical mathematical models and software ADAMS. Meanwhile, a further verification of the rationality of the whole structure and the equipment selection is finished.The mathematical model of AC servo motors, cylinders, proportional pressure valve and other components were established respectively. Then, based on kinematic and dynamic knowledge, we build a pneumatic power compensation controller model which can change with rotor angle. Moreover,we completed the establishment of a ADAMS model and MATLAB joint Simulation Model. Furthermore, make a simulate analysis of single joints and three joints linkage to verify the feasibility of the control strategy for the entire system.We use a pneumatic power compensation controller model which can change with rotor angle to make a test of the pneumatic power assist system. Experimental results of single-joint pneumatic power assist system show that the steady-state accuracy of single joint system is relatively high and enable a fast response. The experimental the results on the terminal trajectory control show that the trajectory tracking effect is good. We obtained satisfied experimental results.