对点位控制通用机械手如何达到速度既快,定位精度又高的要求,是国内外重点研究的课题之一。我们为了在满足定位精度的前提下,探索一种成本较低、简易可行的通用机械手的驱动系统和控制系统,在已研制的示教再现式数控通用机械手本体上,改用电磁换向开关阀代替电液伺服阀,用简易数控代替专用电子计算机控制,以降低成本;采用光电编码盘反馈,实现闭环数控,以提高定位精度,并分别对液压传动的进油、出油节流调速方式进行了定位精度测试。现简述如下。 It is one of the key research topics at home and abroad that how to control the general manipulator at the point to achieve the requirements of fast speed and high positioning accuracy. In order to meet the positioning accuracy of the premise, to explore a lower cost, simple and feasible universal manipulator drive system and control system, has been developed to teach the reproduction of CNC universal manipulator body, switch to the solenoid valve Instead of electro-hydraulic servo valve, simple numerical control instead of special electronic computer control, in order to reduce costs; photoelectric encoder feedback, closed-loop CNC to improve positioning accuracy, and respectively hydraulic into the oil, oil throttling speed control mode Positioning accuracy test. Are summarized below.