This paper presents a vacuum gripper （as an actuator of an intelligent micromanipulator） for micro objects （with a diameter of 100 - 300μm） assembly tasks. The gripper is composed of a vacuum unit and a control u...This paper presents a vacuum gripper （as an actuator of an intelligent micromanipulator） for micro objects （with a diameter of 100 - 300μm） assembly tasks. The gripper is composed of a vacuum unit and a control unit. The vacuum unit with a proportional valve and a pressure sensor, and the control unit with a PC ＋ MCU two-layered control architecture are designed. The mechanical structure, workflow and major programs of the micro-gripper are presented. This paper discusses the major components of the adhesion force acting on micro objects. Some equations of the operation conditions m three phases of pick, hold and place are derived by mechanics analysis. The pneumatic system＇s pressure loss is inevitable. There are some formulas for calculating the amount of the pressure loss, but parameters in formulas are diffficult to be quantified and evaluated. To control the working pressure accurately, a pressure controller based on fuzzy logic is designed. With MATLAB＇s fuzzy logic toolbox, simulation experiments are performed to validate the performance of the fuzzy PD controller. The gripper is characterized by a steady and reliable performance and a simple structure, and it is suitable for handling micro objects with a sub-millimeter size.展开更多
无线网络控制系统(Wireless Networked Control System,WiNCS)是基于无线网络的分布式控制系统,融合了控制技术、计算机技术、网络技术与通信技术,具有无需布线、节省构建费用、组网和维护方便、易于扩展以及良好的可移动性等优点。目前...无线网络控制系统(Wireless Networked Control System,WiNCS)是基于无线网络的分布式控制系统,融合了控制技术、计算机技术、网络技术与通信技术,具有无需布线、节省构建费用、组网和维护方便、易于扩展以及良好的可移动性等优点。目前,无线网络控制系统的分析和设计已经成为控制界的热点研究之一。针对无线网络控制系统的仿真技术进行了研究,基于网络控制仿真软件TrueTime以及Matlab/Simulink环境,设计了一个WiNCS仿真系统模型,提出了在无线网络控制系统中Fuzzy-PD控制算法的设计,并对PD控制、模糊控制和Fuzzy-PD控制三种控制器的控制性能进行了比较。展开更多
基金This work was supported bythe National Natural Science Foundation of China (No .60275013) the Natural High Technology Researchand DevelopementProgramof China(No .2004AA844120) .
文摘This paper presents a vacuum gripper （as an actuator of an intelligent micromanipulator） for micro objects （with a diameter of 100 - 300μm） assembly tasks. The gripper is composed of a vacuum unit and a control unit. The vacuum unit with a proportional valve and a pressure sensor, and the control unit with a PC ＋ MCU two-layered control architecture are designed. The mechanical structure, workflow and major programs of the micro-gripper are presented. This paper discusses the major components of the adhesion force acting on micro objects. Some equations of the operation conditions m three phases of pick, hold and place are derived by mechanics analysis. The pneumatic system＇s pressure loss is inevitable. There are some formulas for calculating the amount of the pressure loss, but parameters in formulas are diffficult to be quantified and evaluated. To control the working pressure accurately, a pressure controller based on fuzzy logic is designed. With MATLAB＇s fuzzy logic toolbox, simulation experiments are performed to validate the performance of the fuzzy PD controller. The gripper is characterized by a steady and reliable performance and a simple structure, and it is suitable for handling micro objects with a sub-millimeter size.
文摘无线网络控制系统(Wireless Networked Control System,WiNCS)是基于无线网络的分布式控制系统,融合了控制技术、计算机技术、网络技术与通信技术,具有无需布线、节省构建费用、组网和维护方便、易于扩展以及良好的可移动性等优点。目前,无线网络控制系统的分析和设计已经成为控制界的热点研究之一。针对无线网络控制系统的仿真技术进行了研究,基于网络控制仿真软件TrueTime以及Matlab/Simulink环境,设计了一个WiNCS仿真系统模型,提出了在无线网络控制系统中Fuzzy-PD控制算法的设计,并对PD控制、模糊控制和Fuzzy-PD控制三种控制器的控制性能进行了比较。
