| 水下作业机械灵巧手接触力控制方案的研究 |
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| 引用本文： | 许德章,杨明,汪步云.水下作业机械灵巧手接触力控制方案的研究[J].安徽机电学院学报,2008(4):1-4. |
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| 作者姓名： | 许德章 杨明 汪步云 |
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| 作者单位： | 安徽工程科技学院机械工程系,安徽芜湖241000 |
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| 基金项目： | 863国家高技术研究发展计划基金资助项目（2006aa04z244） |
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| 摘 要： | 基于水下精细作业任务需求，阐述了手爪关节驱动形式的选择过程，满足水下作业灵巧手体积小、效率高、负荷大、结构相对简单的要求．并在此基础上，探讨了接触力控制液压回路设计的基本思路，双闭环接触力控制系统的工作原理．为了精确地控制手指与目标间接触力，液压伺服单元选用Moog公司的D633系列伺服阀，实现接触力连续控制．
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| 关 键 词： | 水下作业 手指 接触力 控制系统 |
Contact force control method of mechanical dexterous hand in underwater operation |
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| XU De-zhang,YANG Ming,WANG Bu-yun.Contact force control method of mechanical dexterous hand in underwater operation[J].Journal of Anhui Institute of Mechanical and Electrical Engineering,2008(4):1-4. |
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| Authors: | XU De-zhang YANG Ming WANG Bu-yun |
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| Affiliation: | (Dept. of Mech. Engn. ,Anhui University of Technology and Science, Wuhu 241000, China) |
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| Abstract: | Concering the fine underwater operation, the paper discusses driving form of underwater mechanical dexterous, in order to meet the needs for small volume, high efficiency, high load and relatively simple structure. In addition,the paper elaborates the basic ideal design of hyfraulic control circuit, and the working principle of double closed loop contact force control system. For the precise control, the contact force between fingers and objextives,Moog＇s D633 series servo valve is selected as hydraulic servo unit,to realixe continuous contact force between fingers and objectives. |
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| Keywords: | underwater operation fingers contact force control system |
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