外文翻譯--氣動機械手

氣動機械手隨著微電子技術、傳感器技術、控制技術和機械制造工藝水平的飛速發(fā)展，機器人的應用領域逐步從汽車拓展到其它領域。在各種類型的機器人中，模擬人體手臂而構成的關節(jié)型機器人，具有結構緊湊、所占空間小、運動空間大等優(yōu)點是應用最為廣泛的機器人之一。尤其由柔性關節(jié)組成的柔性仿生機器人在服務機器人及康復機器人領域中的應用和需求越來越突出。1.1 研究氣動機械手的意義近20年來，氣動技術的應用領域迅速拓寬，尤其是在各種自動化生產線上得到廣泛應用。電氣可編程控制技術與氣動技術相結合，使整個系統(tǒng)自動化程度更高，控制方式更靈 ，性 更 可 氣動機械手、柔性自動生產線的迅速發(fā)展， 氣動技術 出 更 更高的 求 微電子技術的 ， 電氣 服技術的發(fā)展。 控制 的發(fā)展，使氣動技術從 關控制 服控制，控制 度 高 由 氣動 寬 制技術具有結構 、 和成等currency1點，“在大 發(fā)fi1。從各的fl 統(tǒng)來，近30 年來，氣動fl 發(fā)展 。2070年，”與氣動的產 為9:1，而30 年的 ，在工 技術發(fā)的、， 到6:4， 近5:5。 的氣動fl 步，發(fā)展。從2080年 中 氣動產的年 20 上，高中機械工 產平 年 。隨著微電子技術、PLC技術、 機技術、傳感技術和 控制技術的發(fā)展與應用，氣動技術成為 傳動與控制的關 技術之一2。傳統(tǒng)的機器人關節(jié) 由電機 氣 ” 等來動。 種方式來動關節(jié) 度可 到 高，其 度 大， 關節(jié)的柔 運動。而柔性的機器人在和人的 合使用 ， 造成人 和 的 。 ，在 服務機器人 康復機器人fi中， 機器人的關節(jié)具有一的柔 性高到 一個 的。人類關節(jié)具有 機器人所 具 的優(yōu) currency1性，既可 準 的 控制又具有 好的柔 性。 種currency1性主 是由關節(jié)所采用的 性肌肉動方式所決的。 模仿生物關節(jié)的動方式在仿生機器人中得到越來越 的應用。在 種應用中為得到類似生物關節(jié)的 好currency1性，一般采用具有類似生物肌肉currency1性的人工肌肉。氣動肌肉是人工肌肉中出 早、應用廣泛的一種動器，具有量輕、結構 及控制 等優(yōu)點，在類人機器人、爬fl機器人及康復輔助器械中得到應用。其基應用形式大采用一 氣動肌肉組成關節(jié)的方式。氣動肌肉最 和最常見的使用方式是利用一 氣動肌肉 生物體中拮 肌的形式動關節(jié)，種方式克服 氣動肌肉變化長度小的缺點， 夠 大的轉動移。而且由其類似生物體動關節(jié)的方式， 具有 度和 獨立控制等仿生關節(jié)具有的優(yōu)點3。氣動機械手是集機械、電氣、氣動和控制 一體的典型機電一體化產品。近年來，機械手在自動化領域中，currency1別是在有毒、放射、 燃、 爆等惡劣 “，與電動和”動的機械手相 ，顯示出獨currency1的優(yōu)越性，得到 越來越廣泛的應用4。1.2氣動機械手在國內外的發(fā)展現(xiàn)狀及應用由 機器人 機械手需 速、準 的抓取工， 而 機器人 機械手 出 更高的 求，即他們必須具有高 度、 速反應、有一的承載、足夠的空間和靈 的自由度 及在任意 自動。傳統(tǒng)觀點認為，由 氣體具有”縮性， ，在氣動 服系統(tǒng)中 高度 尤其在高速情況下，似乎更想象 。，氣源工作”，抓舉小。氣動技術作為機器人中的動功 經被工 界廣泛受， 氣動機器人 服控制體系的fi步，取得 成果，它在工 自動化領域應用正在受到越來越 的廣泛關注。90年 初，有布魯塞爾皇軍事學院Y.Bando教授領導的綜合技術部 發(fā)制的電子氣動機器人“阿基里斯”六腳勘測員，也被稱為FESTO的“六足動物”。Y.Bando教授采用 界上著名的德FESTO生產的氣動、可編程控制器和傳感器等，創(chuàng)造 一個在荷馬史詩中最健壯最勇敢的希臘英雄阿基里斯。它 在人 的危險區(qū)域、 放射性的 中 fl形 。六腳電子氣動機器人的上方 一個 相機來 物， 的 它， 在fl 程中 和 集 。六腳電子氣動機器人fl 的所有程 由FPC101-B可編程控制器控制，F(xiàn)PC101-B 在六個 方 控制機器人的運動，最大fl速度0.1m/s。 常 果有 個腳與 ，機器人 一種平 的 fl，六腳中的 一個腳有 個自由度，一個 線氣 腳 、放下，一個動馬控制腳展、，一個動馬currency1 腳的“作轉運動。 個氣 節(jié)速度用的 節(jié)fi，使機械動部在運動 fl平 ，即在 速 下工作。控制氣 的fi“ 在機器人體“，由FPC101-B可編程控制器控制。 電源 ，氣動fi被 到工作 ，關 電源 ，他們 到初 。，作 在任一點上”機器人的運動， 果機器人的傳感器在它的有“測到 物，機器人也 自動”。由 大學學fi院的氣動機器人，它 在個相 的 上fl 從 到 從 到上 。機器人“的 上 著等 步 的 和氣 ，一組 與一組 的 ，類似腳 似的運動方式，使機器人產生轉步 運動。 種式機器人可被用 工具 運 fl 種作， 在 發(fā)電 、高 物氣動機械手 服控制系統(tǒng)的fi 上 fl 、 和 工作。機器人用 控方式 fl 自動作，作需 運fl的 ， 機自動 出必 的 步運fl。作可 機器人 fl 控。從上 可見，氣動機器人 經取得 性的 展。 它在 空間“的任意、任意 抓取物體 手而 ，“阿基里斯”六腳勘測員、機器人顯示出它們具有足夠的自由度來 應工作空間區(qū)域。氣動技術發(fā)展 ，用 線氣 、轉馬來決氣動機器人中一般的關節(jié) 動和空間自由度 經 成 ，氣 速運動平 性 一點也 成 ， 合使用速氣 ，其速度在5mm/s的情況下也 平 運fl。 從 上變 傳統(tǒng)上的觀點“由”縮性的空氣作為 的氣 運動速度有 動 速運fl 平 的缺”。氣 的運fl從速5mm/s到高速510m/s， 它有一個 分豐富、寬廣的速度區(qū)域， 應各種 次的速度等需 5。氣動技術經歷 一個漫長的發(fā)展 程，隨著氣動 服技術 出 室，氣動技術及氣動機械手迎來 嶄新的春。 在界上形成 、和盟氣動技術、氣動機械手 足鼎立的局 。 氣動技術和氣動機械手的fi與應用 ，隨著投 度和發(fā)度的 大， 自主制的 氣動機械手經在汽車等fl 為的發(fā)展 步發(fā)揮著 作用。隨著微電子技術的迅速發(fā)展和機械 工工藝水平的 高及 控制 的應用，為fi高性 的氣動機械手奠 堅 的物 技術基礎。由 氣動機械手有結構 、 速、 載護、 復雜的動作等諸 獨currency1的優(yōu)點。由 氣”傳動系統(tǒng)使用 、可 ，可 在高溫、震動、 燃、 爆、 塵埃、磁、輻射等惡劣 下工作6。而氣動機械手作為機械手的一種，它具有結構、量輕、動作迅速、平 、可 、節(jié) 和 、 速、 載護、 復雜的動作等優(yōu)點7,8-9。所 ，氣動機械手被廣泛應用 汽車制造 、 導體及電fl 、化肥和化工10 ，食品和藥品的 7,11-12、 密儀器和軍事上13,14-15。汽車制造工廠的生產線，尤其是主 工藝是焊的生產線，大 采用氣動機械手。車 在 個工 的移動 車 殼被真空 和放下，在指工的夾緊和 點焊機焊頭的速近、減速軟著陸的變”控制點焊，采用 各種currency1殊功 的氣動機械手。高頻 的點焊、控的準 性及完成整個工 程的高度自動化，堪稱是最有 性的氣動機械手應用之一2。在彩電、冰箱等用電器產品的 配生產線上，在 導體芯片、印刷電路等各種電子產品的 配水線上， 僅可 到各種大小 一、形 的氣 、氣爪，還可 到 靈巧的真空 將一般氣爪 抓的顯像管、紙箱等物品輕輕 住，運送到指 。 速度限制 分嚴格的芯片 運系統(tǒng)，采用 平 速的SIN氣 16。氣動機械手用 食品fl 的粉、粒、塊物的自動量 用 煙草工 的自動卷煙和自動 等 工 。 酒、油漆灌 氣動機械手 自動蓋、 和擰緊氣動機械手，牛奶盒 箱氣動機械手等8,11。，氣動系統(tǒng)、氣動機械手被廣泛應用 制藥與醫(yī)療器械上。 ：氣動自動 節(jié)病床15，Robodoc機器人，daVinci手術機器人等17。1.3 氣動技術發(fā)展狀況及優(yōu)缺點氣動技術是一門正在蓬勃發(fā)展的新技術，氣動是氣動技術中最 的組成部分，用氣動組成的傳動和控制系統(tǒng) 廣泛應用 民經濟各部門的成套 和自動化生產線上。氣動技術是 ”縮氣體 ”縮空氣 惰性氣體和熱氣體 為工作 fl 量和信號的傳 ，從而 生產 程自動化的一門技術，它含氣”傳動和氣動控制方 的“ 18,19。氣動技術的發(fā)展歷程，是從 個到控制系統(tǒng)，從 純機械系統(tǒng)到機電一體化的復雜高技產品的歷程。人類 空氣 fl利用， 其為傳 量的 可追溯到幾千年 。真正性 和基原 fl系統(tǒng)的fi也是從 ，形成 氣”傳動系統(tǒng)動學和氣動控制 為主 “ 的一門學氣動系統(tǒng) 。，氣動和”是種為普遍應用的傳動和控制方式，有 相點，也有 點，氣動技術真正成為 界各個工 部門所受 廣泛應用，是由 益迫的生產自動化和作程 合 化的需 ，也由 氣動技術具有 下 優(yōu)點:1 氣動技術 空氣為工作 ，空氣隨處可取，且粘性小，在管“動阻小， 集中供氣和遠 送。 而，大 工廠有方 的”縮空氣氣源。作為工作 的”縮空氣的物 性 ，是氣動技術在廣泛的各種應用具有 、方 和費用的優(yōu)點?！笨s空氣沒有生產火的危險。 ，它 有 燃 爆炸潛在危險的工礦。氣動機構 ， 格，用 的空氣可 大氣 放，處 方 ，必使用 管 。氣動系統(tǒng) ，即使有 ，也 像”系統(tǒng) 產品和 ，受電磁 ，電子系統(tǒng)有之。氣動系統(tǒng)護 復雜，也 需 currency1殊的 和 。應性， 有的機器可方 的為氣動傳動，氣 可 在 求出的方。fl 量 ，可 fl應 系統(tǒng)需 用。氣”傳動 有 載護性 。氣動 fl 長 在 荷下工作，在 載 自動”。氣動運動速度高，普 氣 的運動速度一般為0.050.7m/s，有的高13m/s，高速氣 可15m/s。 ， 氣動 在工 自動化 中占 的。，氣動技術也有其缺點:1 ”縮空氣需 fl 塵、 水處 。空氣的可”縮性使系統(tǒng) ，且使氣動系統(tǒng)的 性， 和速度的 控制 來 大的 。系統(tǒng)運fl 放空氣的 大。氣動信號的傳 速度遠 電信號，而且有大的 和真， 而氣動控制技術 用 高速傳 和處 信的復雜系統(tǒng)，而且氣動信號的傳送 也受到限制。管氣動技術上有一缺點，它的優(yōu)點還是主 的，所 氣動技術 在各個工 部門中得到益廣泛的應用。而氣動更是一種經濟 用的機械化、自動化的 想。 在，氣動技術和電子電器、”技術一 ，成為自動化生產 程的有技術之一，在民經濟中著越來越大的作用。氣動技術由動技術及”技術變、發(fā)展而成為獨立的技術門類 到50年，currency1經分顯示出它在自動化領域中大的生“，成為 應用最廣、發(fā)展最，也最 及 的技術之一，氣動技術 成為各個fl 可缺的一部分。在，氣動被稱為“ 的自動化技術”。氣動技術由幾個主 的歷史發(fā)展fi。50年 初，大 從”造 變 來，體fl 大。60年 ， 構成工 控制系統(tǒng)，應用成體系， 與動技術相 。在70年 ，由 與電子技術的結合應用，在自動化領域得到廣泛的廣。80年 是集成化、微型化的 。90年 初，氣動技術突 傳統(tǒng)的區(qū)，經歷著飛 性的發(fā)展，復 度0.01mm的模塊化氣動機械手，5mm/s速平 運fl及510m/s高速運動的 氣 相 。在與機、電氣、傳感、 等技術相結合的基礎上產生 氣動 一” 氣動 與 服、 fi、模塊化機械手 。氣動 服技術可使氣 在氣動機械手 服控制系統(tǒng)的fi高速運動3mm/s情況下 任意點自動。 fi技術 分 想的決 整個自動化生產線的分與集中控制 。 氣動的發(fā)展 是微型化、集成化、模塊化、 化20-22。1.4 氣動機械手的發(fā)展方向1) 復高 度 度是指機器人、機械手到指點的 程度，它與動器的分 及反 有關4。復 度是指 果動作復 次，機械手到 的 程度。復 度 度更 ， 果一個機器人 夠 ， 常 顯示一個的， 個是可 測的， 可 編程 正。復 度限的是一個隨機的，它 一次 復運fl機器人來測13。隨著微電子技術和 控制技術的發(fā)展， 及氣動 服技術 出 室和氣動 服系統(tǒng)的成套化。氣動機械手的復 度將越來越高，它的應用領域也將更廣， 工 和軍事工 等2。2) 模塊化有的 有系 導 動 的氣動機械手稱為 的傳技術，而模塊化 的氣動機械手稱為 傳技術。模塊化 的氣動機械手 組合導 動 更具靈 的 體系。它集成電和 電 及氣管的導 系統(tǒng) ，使機械手運動自 。由 模塊化氣動機械手的動部采用 currency1殊的“承，使它具有高 性、高度及 的導 度。優(yōu) 的 度也是新一氣動機械手的一個 currency1點。模塊化氣動機械手使 一機械手可 由 應用 的模塊而具有 的功 ，大 機械手的應用，是氣動機械手的一個 的發(fā)展方 23。 fi的出 高模塊化氣動機械手和氣動機器人的性 到 分 的fl作用。 為 fi來 是模塊化的 ，currency1別是緊湊型CPfi，它 分上的集中控制 分 的作用，currency1別 機械手中的移動模塊。3) 機電氣一體化由“可編程 控制器 傳感器 氣動”組成的典型的控制系統(tǒng) 是自動化技術的 方 發(fā)展與電子技術相結合的自 應控制氣動，使氣動技術從“ 關控制” 到高 度的“反 控制” 配線的復合集成系統(tǒng)，僅減配線、配管和，而且 ，大大 高 系統(tǒng)的可 性2,24。而 ，電磁fi的線 功 越來越小，而PLC的出功 在 大，由PLC 控制線 變得越來越可 。氣動機械手、氣動控制越來越 PLC，而fi技術的發(fā)展，又使PLC在氣動機械手、氣動控制中變得更 得應手25。參考文獻1 氣動手 M 上 學技術出 ，2005 2628 SMC 中 有限 用技術M ：機械工 出 ，2005 3637 立 ， 立 氣動肌肉動仿生關節(jié)的 分 J 機床與”，2007, 35(6):218219 Qiu Yangzhen, Lin Yimeng. Research and Applications of High Precision Pneumatic Manipulator.Hydraulic Pressure and PneumaticJ. 2006, 28(4):5556 雄 近 氣動機器人 氣動機械手 的發(fā)展及應用J ”與氣動技，1999, 12(5):1316 ，春，高常 ”與氣”傳動M 高等教 出 ，2002 5254 B.Tondu，P.Lopez Modeling and control of McKibben artificial muscle robot actuatorsJ IEEE Control System Magazine，2000, 27(6):1538 上 工 大學控fi室 氣動技術基礎M 機械工 出 ，1982 2122 來 ，等 ”與氣”傳動M 大學出 ，2005 1013 1 生 氣”傳動M 機械工 出 ，2004 108110 11 德 Wemer Deppert KunStdl 氣動技術成綜合自動化M ， 機械工出 ，1999 6364 1 ，中 ，等 氣動及系統(tǒng)的使用與M 機械工 出 ，1996 2122 1 Saeed B Niku 機器人學導 分 、系統(tǒng)及應用M 富春， ， 等 圻，審 電子工 出 ，2004 5657 1 齊 凱，陳冰冰 基 Pro/Engineer的氣動機械手參 化J 機械，2000, 22(2):257258 1 蔡自興 機器人學M ：大學出 ，2000 154155 1 Tbndu B，Lopez.P Modeling and control of mckibben artificial muscle robot aetuatomJ IEEE Control systems Magazine 2000, 5(7):1538 1 袁子榮 氣”傳動與控制M 慶大學出 ，2002 122124 1 葛遠 體傳動及控制技術的新成 J ”與氣動，1998, 16(2):13 1 路甬祥 氣動技術的發(fā)展方 J ”與氣動，1991, 5(2):23 氣動技術基礎知J ”與氣動，1994, 5(1):3941 1 J.L.Shear.Study of pneumatic process in the continuous control of motion with compressed air-LM.Trans of ASME,1956 233241 Zhou Hong. Intelligent pneumatic-The latest trend in pneumatic actuators and control systemsM.Proceeding of the 4th International Conference on Fluid Power Transmission and Control,1997 335348 陸鑫盛， 氣動自動化系統(tǒng)的優(yōu)化M 上 學技術文獻出 ，1999 8689 陳新， 龍 配線機械手電氣混合控制J ”與氣動，2007, 13(3):4647 蔡自興 機器人學M ：大學出 ，2000 5960 路甬祥 ”氣動技術手 M 機械工 出 2003 1012 立 祖溫 鋼 氣動肌肉動仿人臂的J ”與氣動 2004, 10(9):78 辛軍，汪勁松，高峰，金振 一種串 聯(lián)結構擬人七自由度冗余手臂的J 中機械工程，2002, 13(2):101104 吳偉，鄧喜君，蔡鶴皋 基 PYR型 方關節(jié)的7自由度仿人手臂J 中機械工程，1999, 10(12):13451346 毛君 畢長飛 基 Pro/Engineer采煤機的 動 仿真與優(yōu)化J 煤礦機械，2006, 27(6):990994 1 路甬祥 ”氣動技術手 M 機械工 出 ，2002 6566 立 ，譚江，鐵，立 氣動肌肉的結構與制作J ”與氣動 2008, 17(2):4849 Pneumatic manipulator essayWith microelectronics technology, the sensor technology, control technology and machinery manufacturing technology level of rapid development, application field of robot gradually expand from car into other fields. In all types of robot, simulation of a human arm robot joints, with compact structure, accounting for the space is little, sports a large space etc, and is one of the most widely used a robot. Especially by flexible joints of the flexibility of the bionic robot composed in service robot and rehabilitation robots the application fields and demand more and more outstanding.1.1Study the meaning of pneumatic manipulatorIn the recent 20 years, the application field of pneumatic technology quickly expanded and especially in all kinds of automatic production line widely used. Electrical programmable control technology and pneumatic technology combine to make the whole system and more automated, control means more flexible, more reliable performance； Pneumatic robots, flexible automatic production line to the rapid development of pneumatic technology to bring up more higher requirements； The introduction of microelectronics technology, promote the development of the technology of servo electrical proportion. The development of modern control theory, pneumatic technology from the switch control into the closed loop proportion servo control, the control accuracy are improving； Because gas artery width modulation technique is simple in structure, strong ability to fight pollution and low cost and other characteristics, domestic and foreign are strongly in development research 1.From the countries of the industry statistics to see, in the past 30 years, pneumatic industry is developing very quickly. In the 1970 s, hydraulic and pneumatic components of the output value is about for now, and more than 30 years later, in the industrial technology developed in Europe, America, Japans national, this ratio has reached 6-4, or even close to 50. The pneumatic industry in China started late, but the fast development. From the 1980 s began, pneumatic components production value of trees years to above 20%, higher than the average annual output value of the China machinery industry trees. With microelectronics technology, the PLC technology, computer technology, sensing technology and modern control technology development and application, pneumatic technology has become a modern realization transmission and control of a key technology of 2.The traditional robot joints is much by motor or liquid (gas) pressure cylinders to drive. In this way to drive the joints, position precision can reach high, but its stiffness often very large, realize the joint is difficult and movement. And sex differences in the robot and people to contact with applications, easy to cause the person and environmental damage. Therefore, in many service robots or rehabilitation robots study, ensure that the robots joints has certain compliant sex increased to a very important position.Human joint with robots now not possess excellent characteristics, which can realize accurate position control and has the very good and sex. This characteristic is mainly composed of the joint backlash muscle drive mode of the decision. At present imitate biological joint drive mode in the bionic robot by more and more applications. In this application for similar creatures joint of the good characteristic, generally using a similar creatures muscle characteristics of the artificial muscle.The pneumatic artificial muscle is in muscles appear very early, is widely used a drive, with light weight, simple structure and easy control etc, and in humanoid robot, crawled robots and rehabilitation mechanical assistance is used. Its basic application forms most used a pair of pneumatic muscles joint way. Pneumatic muscle the simplest and the most common used way is to use a pair of pneumatic muscles to the biology of the form of driver antagonist muscle joints, this kind of means to overcome a pneumatic muscle change the weaknesses of the smaller size, can realize the rotation of the large displacement. And because the driver of the joint way similar organisms, therefore has the stiffness and position can control of independent bionic joint have the advantage of 3.Pneumatic manipulator is set for the mechanical, electrical, pneumatic and control in one of the typical electromechanical products. In recent years, robots in the field of automation, especially in toxic, radiation, inflammable, explosive, etc in the bad environment, and electric and hydraulic drive compared the manipulator, shows the unique superiority, have been applied more and more 4.1.2Pneumatic manipulator in the domestic and foreign development status and the applicationDue to the robot manipulator or to the rapid and accurate all need to grab workpiece, so for robots or manipulator put forward higher request, that they must have a high precision, can rapid response, have certain bearing capacity, enough space and flexibility of freedom and in any position can automatic positioning.The traditional view, because the gas compressibility is, therefore, in pneumatic servo system to achieve high precision positioning are difficult (especially in the case, seems to be more difficult to imagine). In addition, the air source work pressure is lower, snatch force is small. Pneumatic technology as the drive function robot has been widely accepted industry, for pneumatic servo control system of the robot later start, but has made important achievements, it in industrial automation field application is receiving more and more attention.90 s, a Brussels royal military academy Y.B ando professor of leadership comprehensive technical development development electronic pneumatic robot- Achilles six feet survey member, also known as FESTOs six feet animal . Y.B ando professor used the world famous German FESTO production of pneumatic components, programmable controller and sensor etc, create a in the most robust Homer epic the most brave Greek hero Achilles- It can not easily in the danger zone to people, pollution or radioactive environment for terrain reconnaissance. Six feet above the electronic pneumatic robot installed a camera to visit the obstacles, can be safely around it, and in the process of collecting and walk record data. Six feet electronic pneumatic robots walk by all of the program FPC101-B PLC control, FPC101-B in six different direction control of the robot movement, the biggest walking speed 0.1 m/s. Usually if three feet contact with the ground, robot can be in a steady walk posture, six feet of each one feet all have three degrees of freedom, a linear feet, put down the cylinder mention, a swing motor control feet stretch and return, and the other one swing motor is responsible for around the foot axis make the rotary motion. Each cylinder is equipped with a to adjust the speed of the throttle with one-way, mechanical drive components in motion remain stable, that in stepless speed regulation state work. Control of cylinder valve built-in robot body, by FPC101-B PLC control. When switching power supply, pneumatic valves are switching to the work of the state position, when shut off the power, they returned to the initial position. In addition, the operator can stop at any point the movement, if a robot in the sensor range it detected obstacles, robots are automatically stop.By Hanover university scientific research institute in the design of the materials pneumatic wall climbing robot, it can in two mutually perpendicular to walk on the surface (including from the ground to metope or from metope to the ceiling). The axis of the robot the circumference of the edge equipment introduced (according to step away from setting) chuck and cylinder, a group of chuck suction and another group of chuck suction alternate exchange, similar to the feet like sports method, the robot cause spinning stepping movement. The climbing wall type robot can be used to perform a variety of operating handling and tools, such as in the nuclear power station, high-rise buildings pneumatic servo control system of the manipulator position research or the ship on cleaning, testing and installation work. With remote control robot for semi-automatic operation, the operator enter a running target distance, then the computer will automatically calculate necessary to run a single step. The operator may monitor for robots.From the above example shows, pneumatic robot has been achieved substantial progress.Is it in 3 d space inside the arbitrary positioning, any object or shake hands grab attitude concerned, Achilles six feet, climbing wall survey member robot shows that they have enough freedom to adapt work space area. Pneumatic technology development has been,as in a straight line cylinder, rotating motor to solve the pneumatic robot general joint activities and space freedom has been unchallenged, cylinder low speed movement stability that also is a problem, many occasions to use low speed cylinder, its velocity in 5 mm/s to running smoothly. So fundamentally changed the traditional views, by the air as medium compressibility cylinder movement speed has impact or low operation is not even quiver of defects. The operation of the cylinder from low to high speed 5 mm/s 5 10 m/s, shows that it has a very rich, the speed of the broad area, in order to adapt to the various levels of speed level need 5.Pneumatic technology has experienced a long development process, with pneumatic servo technology walked out of the lab, pneumatic technology and pneumatic manipulator ushered in the new spring. At present in the world has formed by Japan, the United States and the European Union pneumatic technology, pneumatic manipulator of the three pillars of the situation. Our country to pneumatic technology and pneumatic research and application of the manipulator are quite late, but with investment and development strength, the strengthening independent research in our country many of the pneumatic manipulator has been in automotive industries for the countrys progress plays an important role. With the rapid development of microelectronics and machining technology and raise the level of modern control theory, the application of high performance for research of pneumatic manipulator laid solid material and technical base. The pneumatic manipulator has simple structure, easy to realize stepless speed regulation, easy to achieve overload protection, easy to realize complex movements of many special advantages.Because of pneumatic transmission systems use safe, reliable, can be in high temperature, vibration, inflammable, explosive, dust, strong magnetic, radiation, and so on a harsh environment work 6. And pneumatic manipulator of the manipulator as a kind, it has simple structure, light weight, action quick, stable, reliable, energy saving and polluting the environment, easy to realize stepless speed regulation, easy to achieve overload protection, easy to realize the advantages of complex movement (7, 8-9. So, pneumatic manipulator is widely used in automobile manufacture, semiconductor and household electrical appliance industry, fertilizer and chemical 10, food and the packing of the drugs 7, 11-12, precision instrument and military 13, 14-15.Modern car manufacturing factory production line, especially the main process is welding production line, mostly used the pneumatic manipulator. Body in the movement of the each working procedure； Body the casing is vacuum cups suck up and down in the specified location clamping and positioning； Spot welding welding head fast approaching, slowing down after a soft landing of variable pressure control point welding, adopt various special function of the pneumatic manipulator. The high frequency welding, force control accuracy and complete the whole process of the height of the process automation, this is the most representative of pneumatic manipulator of the application 2.In the home appliance such as color television, freezer of product assembly line, in semiconductor chips, printed circuit, etc. Various kinds of electronic product assembly line, not only can see all kinds of size, shape of different cylinder, gas claw, still can see many clever vacuum cups will generally gas claw is hard to grab, cartons, tube of such items as gently absorb, sent to the designated target position. For acceleration limit very strict chip handling system, using a smooth acceleration of SIN cylinder 16.Pneumatic manipulator of food industry used to block material granular, powder, automatic measurement for packing； Used for tobacco industry automatic cigarette and automatic packing and so on the many processes. Like wine, paint filling pneumatic manipulator； Automatic be capped, installation and tighten the pneumatic manipulator, a milk carton packing pneumatic robots 8, 11.In addition, pneumatic system, pneumatic manipulator is widely used in pharmacy and medical equipment. Such as: pneumatic to automatically adjust the sickbed 15, Robodoc robot, daVinci surgical robot 17.1.3Pneumatic technology development situation and advantages and disadvantagesPneumatic technology is a being the prosperous development of the new technology, pneumatic components pneumatic technology is the most important part of the pneumatic components with the drive and control system has wide application the compilation of national departments of the complete sets of equipment and automatic production line. Pneumatic technology is compressed gas (for example the compressed air or inert gas and hot gas) for the work of medium and signal transmission of energy, so as to realize the automatic production process of a technology, it contains pneumatic transmission and pneumatic control of two contents of 18 July.Pneumatic technology development history, from individual components to control system, mechanical system from the simple to the complex mechanical and electrical integration process of high-tech products.Human beings to air which use, with its energy for the medium can be traced back to thousands of years ago. But the real nature of the basic principle and system since the start of the research is also, form with pneumatic transmission system dynamics and pneumatic control theory as the main contents of the one subject-pneumatic system theory.At present, pneumatic and hydraulic pressure are two of the more common transmission and control mode of application, both have many similarities, and many differences, pneumatic technology truly become world each industrial department accept and widely used, is because the increasingly urgent production automation and operating procedures of rationalization need, also the pneumatic technology has the following advantages:(1) pneumatic technology air as medium, the air can be desirable, and viscous small, in the obstruction of the flow inside the canal is small, easy to focus on gas supply and transmitted over a long distance. Thus, most factories have convenient compressed air air supply. As medium the physical properties of the compressed air, pneumatic technology is in a wide range of all kinds of application has security, convenience and low cost advantages. Compressed air not production the danger of fire. Therefore, it starts with a flammable or explosive potentially dangerous mining.(2) pneumatic components simple structure, low prices, with the air can be released into the atmosphere, deal with convenient, dont need to use recycled pipeline.(3) pneumatic system clean, even if a leak, also wont like hydraulic system that pollution products and environment, not by the electromagnetic interference, electronic system will have.(4) pneumatic system maintenance is not complicated, also do not need special training and experimental equipment.(5) adaptability is strong, the existing machine can be convenient to pneumatic transmission, air cylinder can be directly mounted in the requirements of the efforts of place.(6) for energy storage, emergency or system need to use.(7) pneumatic transmission itself has the overload protection performance. Pneumatic actuators can work for a long time in full load, in overload time automatically stops.(8) pneumatic components movement speed is high, the rate of movement of the general average cylinder for 0.05 0.7 m/s, some as high as 1 3 m/s, high-speed cylinder up to 15 m/s.Survey data indicated that the pneumatic device in industrial automation equipment in up very important position.Of course, pneumatic technology also has its disadvantages:(1) the compressed air to dust, in addition to water treatment.(2) the air compressibility make the system efficiency low, and pneumatic systems of poor stability, to the position and speed precise control of the great influence.(3) system is running the noise emission of air is larger.(4) pneumatic signal transmission speed than electrical signals low, and there are large delay and distortion, and pneumatic control technology should not be used for the high speed transmission and processing of information of complex system, and pneumatic transmission distance signal also restricted.Although pneumatic technology has some shortcomings, but its advantages or major, so pneumatic technology in all industrial department can get day by day the widespread application. And pneumatic components is also a kind of economic and practical mechanization, automation ideal components. Now, pneumatic technology and electronic appliances, hydraulic pressure technology, have all become automation production, effective technical one of the national economy in playing a more and more important role. Pneumatic technology by pneumatic technology and hydraulic technology evolution, development and become independent technical categories within 50 years, it has fully show it in the automation of the powerful vitality, become the most widely applied in the twentieth century, the fastest growing and most easy to receive and pay attention to one of the technology, pneumatic technology has become an indispensable part of each industry. In a foreign country, pneumatic is called cheap automation technology.Pneumatic technology by several major historical stage of development. To 50 s, most components from hydraulic components modified or evolution, the volume is very big. 60 s, began to form the industrial control system, the application of a system, no longer and pneumatic technology comparable. In the 70 s, with the combination of electronic technology applications, in the automatic field widely promotion. In the 80 s is integration, the era of miniaturization. At the end of the 90 s at the beginning of this century, pneumatic technology breaks through the traditional dead zone, experiencing the development of witnessed, repeat precision of 0.01 mm of modular pneumatic manipulator, 5 mm/s low speed running smoothly and 5 10 m/s high-speed movement of the different cylinder have come out. In with the computer, electrical, sensing, communication technology based on the combination of produce the concept of intelligent pneumatic (pneumatic proportional and servo, intelligent valve island, modular manipulators). Pneumatic servo positioning technology can make the cylinder at the pneumatic servo control system of the manipulator position high-speed movement 3 mm/s realize any point in automatic positioning. Intelligent valve island technology will solve the ideal of the dispersion of the automatic production line with centralized control problem. Modern pneumatic is the development trend of miniaturization, integration, modular, intelligent 20-22.1.4Pneumatic manipulator development direction1) repeat precisionPrecision is refers to the robot, robots to designated point precision degree of it with the resolution of the drive and feedback device about 4. Repeat precision is to point to if action repeat many times, manipulator to precision degree of the same position. Repeat precision is more important than accuracy, if a robot localization is not as accurate, and will usually show a fixed error, this error is predictable, and can therefore through the programming will be corrected. Repeat precision of limited is a random error range, it through a certain number to repeat operation robot to determine 13. With microelectronics technology and modern control technology development, and pneumatic servo technology walked out of the lab and pneumatic servo positioning system specialized. Pneumatic manipulator repeat precision will more and more high, its application field will also be more extensive, such as the nuclear industry and military industry 2.2) modularSome companies with the guidance of the pneumatic drive series called simple transmission technology manipulator, and the modular assembles the pneumatic manipulator called the modern transmission technology. Modular assembles the pneumatic manipulator guide drive more than combination of flexible installation system. It integrates the interfaces and bring cable and trachea orientation system of the device to make the manipulator movement freely. Because of the manipulator modular pneumatic driving components are the special design of the ball bearings, make it has high rigidity, high strength and precise orientation accuracy. Excellent location accuracy is also a new generation of pneumatic manipulator an important characteristic. Modular pneumatic manipulator make the same robots may be due to the different application of modules have different functions and expand the application range of the manipulator, is one of the important pneumatic manipulator the development direction of the 23.The emergence of intelligent valve island to improve modular pneumatic manipulator and the performance of the pneumatic robot plays a very important role of support. For intelligent valve was modular equipment island, especially the compact CP valve island, it to spread of centralized control up on the very important role, especially for the mobile manipulator module.3) mechanical and electrical integration of gasBy programmable controller to sensor pneumatic components of the typical control system is still an important aspect of the automation technology； Electronic technology development and the combination of adaptive control pneumatic components, pneumatic technology from switch control to enter the high precision feedback control； The composite integration system province wiring, not only reduce the wiring, piping and components, and tear open outfit simple, greatly improve the reliability of system 2,.Now, electromagnetic valve power of the coil are getting smaller, and the output power of PLC in the increase, by PLC direct control coils become more and more possible. Pneumatic manipulator, pneumatic control more and cannot leave the PLC, and the island technology development, and make the PLC in the pneumatic manipulator, pneumatic control become more handy 25.Reference1 XuBingHui. Pneumatic manual M. Shanghai: Shanghai science and technology press2005.26 28.2 SMC (China) Co., LTD. Modern practical technology M. Beijing: mechanical industry press, 2005.36 to 37.3 SuiLiMing, ZhangLiXun. Pneumatic muscle drive bionic joint theoretical analysis J. Machine tool