并联机器人原文(11 页)Good is good, but better carries it.精益求精，善益求善。Virtual Prototyping of a Parallel Robot actuated by Servo-Pneumatic Drives using ADAMS/ControlsWalter Kuhlbusch, Dr. Rüdiger Neumann, Festo AG & Co., GermanySummaryAdvanced pneumatic drives for servo-pneumatic positioning allow for new generations of handlings and robots. Especially parallel robots actuated by servo-pneumatic drives allow the realization of very fast pick and place tasks in 3-D space. The design of those machines requires a virtual prototyping method called the mechatronic design [ 1]. The most suitable software tools are ADAMS for mechanics and Matlab/Simulink for drives and controllers. To analyze the overall behavior the co-simulation using ADAMS/Controls is applied. The combination of these powerful simulation tools guarantees a fast and effective design of new machines.1. IntroductionFesto is a supplier for pneumatic components and controls in industrial automation.The utilization of pneumatic drives is wide spread in industry when working in open loop control. It’s limited however, when it comes to multipoint movement or path control. The development has been driven to servo-pneumatic drives that include closed loop control. Festo servo-pneumatic axes are quite accurate, thus they can be employed as drives for sophisticated tasks in robotics. The special advantage of these drives is the low initial cost in comparison to electrical and hydraulic drive systems. Servo-pneumatic driven parallel robots are new systems with high potentials in applications. The dynamical performance meets the increasing requirements to reduce the cycle times.One goal is the creation and optimization of pneumatic driven multi-axes robots. This allo...
