柔性夹爪收缩与扩张过程的能耗研究

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.