Computer Simulation of Electro-pneumatic Drives for Vertical Motion Mobile Robots

摘要

This work is devoted to computer simulation of electro-pneumatic drives for vertical motion mobile robots. These robots are equipped with suction pads to move on walls and ceiling. An output highlights a conflict between the main requirements to such robot drives: simultaneous ensuring of high speed and smoothness of movement of robots with a considerable mass of moved objects. The low efficiency of traditional cushion systems of cylinders is shown in development of such kind of robots. New structure of electro-pneumatic drive for applications with considerable inertia load is developed. This structure represents mechatronic system and consists from the set of on-off valves and computer control device that operates the valves and reaches the optimum motion control of the object with required smoothness. This could be achieved due to the multistep braking in the end of stroke. The paper also represents the mathematical model of developed drive with description of throttle elements, friction forces and details of computer control systems. Mathematical model realized in computer program allows to simulate processes of movement of electro-pneumatic drives. The results of computer modeling show that developed structure and multistep computer control allows to develop effective electro-pneumatic drives for high-quality and high-speed control of massive objects in the part of vertical motion mobile robots. Developed program represents effective analysis instrument, so it can be used in the process of design engineering.