HYDROPNEUMATIC SYSTEM TO CONTROL ADAPTIVE HYDROPNEUMATIC ROBOT

摘要

FIELD: machine building.;SUBSTANCE: invention relates to hydropneumatic control system for adaptive cantilever and portal hydropneumatic robots. Proposed system tracks the workpiece at stable speed irrespective of tracking part curves in meridional and latitudinal directions in two frontal planes of Cartesian space with automatic change of different units of tactile probes and air transducers. Control system processes determined (design) disturbances at lengthwise servo drives and probabilistic (random) geometrical disturbances in setting lengthwise and crosswise feed including those related with floating point of start-end of executing repeating elementary operations on next workpiece compared with previous workpiece (for example, welding points).;EFFECT: higher reliability and efficiency, linger life.;14 cl, 31 dwg, 6 tbl