柔性夹爪收缩与扩张过程的能耗研究

通过工控机的数据采集系统，结合传感器技术、信号处理技术等，搭建设备建立气体压力、流量等参数的在线测量系统，实现对测控系统的调节和控制。首先，分别采集柔性夹爪在收缩和扩张时不同初始压力下的压力与流量；然后，通过SigmaPlot绘出柔性夹爪压力流量图，并对柔性夹爪流量压力输出特性进行分析；最后，计算其气动功率，研究能耗规律。结果表明:对柔性夹爪进行收缩实验时，给定的初始压力与柔性夹爪产生的压力相差不大，气动功率损耗较小；对柔性夹爪进行扩张实验时，提供的初始压力通过真空发生器间接作用在柔性夹爪上，与柔性夹爪产生的压力相差较大，柔性夹爪达到规定压力时需要提供更大的初始压力；柔性夹爪收缩时比扩张时的气动功率损耗低。 

Energy consumption of flexible gripper during contraction and expansion

The online measurement system of gas pressure, flow and other parameters was established to realize the regulation and control of the measurement and control system through the data acquisition system of industrial personal computer, combined with sensor technology, signal processing technology, etc. The pressure and flow rate of the flexible gripper under different initial pressures during contraction and expansion were collected respectively, then the pressure flow diagram of the flexible gripper was drawn by SigmaPlot, and the flow pressure output characteristics of the flexible gripper were analyzed. Finally, the pneumatic power was calculated to study the energy consumption law. The results show that through the contraction experiment of the flexible gripper, the difference between the given initial pressure and the pressure generated by the flexible gripper is small, and the loss of pneumatic power is relatively small. In the expansion experiment of the flexible gripper, because the initial pressure provided is indirectly acting on the flexible gripper through the vacuum generator, the difference between the pressure provided and the pressure generated by the flexible gripper is big. Larger initial pressure needs to be provided in order to make the flexible gripper reach the specified pressure. The pneumatic power loss of flexible gripper is lower during contraction than during expansion.