| Summary: | 碩士 === 國立臺灣科技大學 === 機械工程系 === 107 === The purpose of the research is to accomplish a linear automatically force regulation by the pneumatic actuator and sensors, combined with the pressure control and robot control, use the pressure closed loop system to detect the contact situation to establish three characteristic equation model, through the three characteristic equation model to perform the objective force.
This pressure closed loop system uses a universal interface flange including a fixed part for connecting robot and a moving part for operating as a piston, combined with a linear structure. Using a spring mechanism to restrain into a single axis motion, by this way the whole system can be considered as a linear cylinder control. Then, with a proper filtration equipment before the input source, a no impurity input pressure can be accomplished. Eventually we can gain a steady pressure output.
In the control system, we have installed a proportional valve for feedback and a displacement sensor mounted between the two side flange to feedback the deformation in real time. Through the data gained from each sensor, deformation, pressure and force, the three relation curve, we can gain the three characteristic equation model, then after mapping comes with the force equation model. Finally combined with the robot working trajectory to perform a higher accuracy subsequent processing.
To verify the accuracy of the pressure closed loop system, we control the robot arm for processing. After that, the work piece is fixed with incline. Based on that, the computer performs the trajectory for the robot arm and the ACF will compensate the position and perform a fixed force on the robot to subsequent processing.
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