Study of Dynamics Characteristics for Bionics Fingers of Self-Adaptive
Flexible Fixture Based on AMESim

doi:10.3969/j.issn.1674-0696.2012.06.28

Journal of Chongqing Jiaotong University(Natural Science) ›› 2012, Vol. 31 ›› Issue (6): 1215-1218.DOI: 10.3969/j.issn.1674-0696.2012.06.28

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Study of Dynamics Characteristics for Bionics Fingers of Self-Adaptive Flexible Fixture Based on AMESim

Xiang Qin¹，Luo Tianhong¹，Sun Dongmei²，Li Deshan¹

1. School of Mechanics ＆ Automobile Engineering，Chongqing Jiaotong University，Chongqing 400074，China; 2. Petroleum Equipment Department of Research Institute of Petroleum Exploration ＆ Development，Beijing 100083，China

Received:2012-01-12 Revised:2012-03-19 Online:2012-12-15 Published:2014-10-31

基于AMESim 的自适应柔性夹具机械手指的动态特性研究

向琴¹，罗天洪¹，孙冬梅²，李德山¹

1. 重庆交通大学机电与汽车工程学院，重庆400074; 2. 中国石油勘探开发研究院采油采气装备研究所，北京100083

作者简介:向琴(1983—)，女，湖北天门人，硕士研究生，主要从事工程机械设计、多领域仿真等方面的研究。E-mail:249008367@qq.com。
基金资助:
重庆交通大学研究生创新基金项目〔2010( 下) 第2 号〕

Abstract

Abstract: The self-adaptive flexible structure hydraulic-driven clamp was proposed． According to the working principle and the structure parameters of the driving system，a mathematical motel of the driving system was established and a simulation model of electro-hydraulic proportional closed-loop control system based on AMEsim was also established． The effect on the dynamic characteristics of bionics fingers from the K and PID controller were analyzed and studied． The results demonstrate that there is an optimum value K，which has a significant impact on dynamic and static characteristics of the system; and the accuracy and stability of the system are improved obviously after joining the PID controller．

Key words: flexible fixture, bionics fingers, dynamic simulation, closed-loop control system, PID controller

摘要： 提出了一种基于液压驱动的仿手指自适应柔性夹具结构，根据其驱动系统工作原理及结构参数，建立了驱动系统的数学模型，及基于AMESim 电液比例闭环控制系统的仿真模型; 研究了放大比例增益值( K) 对系统动态特性的影响，及PID 控制器对机械手指动态特性的影响。结果表明: 存在一个最佳K 值，对系统的动、静态特性影响显著; 加入PID 控制器后，系统的精度和稳定性可得到明显改善。

关键词: 柔性夹具, 机械手指, 动态仿真, 闭环控制系统, PID 控制

CLC Number:

TH132

Xiang Qin，Luo Tianhong，Sun Dongmei，Li Deshan. Study of Dynamics Characteristics for Bionics Fingers of Self-Adaptive Flexible Fixture Based on AMESim[J]. Journal of Chongqing Jiaotong University(Natural Science), 2012, 31(6): 1215-1218.

向琴，罗天洪，孙冬梅，李德山. 基于AMESim 的自适应柔性夹具机械手指的动态特性研究[J]. 重庆交通大学学报（自然科学版）, 2012, 31(6): 1215-1218.

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Study of Dynamics Characteristics for Bionics Fingers of Self-Adaptive Flexible Fixture Based on AMESim

基于AMESim 的自适应柔性夹具机械手指的动态特性研究

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