LabVIEW real-time module based pneumatic manipulator control system
A technology of a pneumatic manipulator and a control system, applied in the field of machinery, can solve problems such as inconvenience in use, and achieve the effects of convenient adjustment and simple structure
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[0014] The present invention will be further described below in conjunction with drawings and embodiments.
[0015] Such as figure 1 , 3 white by degrees pneumatic manipulator belongs to joint series robot, its movement is similar to human limbs, and consists of three joints of waist, upper arm and forearm.
[0016] The waist is a rotary motion, which is realized by a single rack and pinion swing cylinder driven by a flow proportional valve. The rotary encoder is connected with the rotation shaft of the waist through a 1:4 synchronous pulley to detect the angle signal; the large and small arms are pitching motions , is realized by driving a single-rod double-acting cylinder with a flow proportional valve. The rotary encoder is connected to the corresponding pitching axis of the large and small arm joints through a 1:4 synchronous pulley to detect the angle signal. In this way, the closed-loop control of single joint is realized, and then the spatial motion control of the end ...
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