内嵌阻尼器的摆动伺服气缸

摘要

The traditional pneumatic rotary actuator can not position rapidly and precisely to an arbitrary point in the travel, so a pneumatic servo rotary actuator was researched. An integrated construction of the pneumatic servo rota-ry actuator contains vane-type pneumatic driver,disc-shaped MRF damper and the angle sensor. The damper drive power with high-speed response was designed,with the step response of the coil current approximate 1 ms. The bas-ic performance test about the pneumatic servo rotary actuator was performed. The results shows that the pneumatic servo rotary actuator has good driving performance, that there is no influence on the pneumatic drive due to the less frictional torque, that the adjustable damping torque is 24. 7 N·m when the control voltage reaches 4. 5 V, that the dynamic torque of the damper is smooth, with less than 5% fluctuation, and that the response time of damper output torque is approximate 35 ms.%针对普通摆动气缸不能在行程中间实现任意点精确、快速定位的问题,研究开发一种摆动伺服气缸。提出集成叶片式气压驱动装置、圆盘式磁流变液旋转阻尼器、角度检测装置的摆动伺服气缸结构方案。设计了高速响应的驱动电源,线圈电流的阶跃响应时间约为1 ms。对摆动伺服气缸基本性能试验结果表明：摆动伺服气缸具有良好的驱动性能,摩擦力矩较小,对气压驱动基本无影响,可调阻尼力矩在控制电压4.5 V时达到饱和阻尼力矩24.7 N·m,动态力矩平稳,波动在5%以内,输出力矩响应时间约为35 ms。