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IDC장치에 대한 공압시스템의 모델링에 관한 연구

A Study on Modeling of Pneumatic System for an IDC Device

  • Nguyen, C.T. (Graduation School of Mechanical Engineering, University of Ulsan) ;
  • Le, Q.H. (Graduation School of Mechanical Engineering, University of Ulsan) ;
  • Jeong, Y.M. (Graduation School of Mechanical Engineering, University of Ulsan) ;
  • Yang, S.Y. (Department of Mechanical Engineering, University of Ulsan)
  • 투고 : 2015.04.27
  • 심사 : 2015.08.17
  • 발행 : 2015.09.01

초록

An intelligent deburring control (IDC) device is used to control the constant force for a deburring tool mounted on the end-effector of a robotic arm. This device maintains a constant contact force between the deburring tool and the workpiece in order to provide a good deburring performance. In this paper, we build a mathematical model in Matlab/Simulink to estimate the force control mechanism of the pneumatic system for the IDC device. The Simulink blocks are built for each separate part and are linked into an integrated simulation system. Such a model also relies on the effects of the flow rate through the valve, air compressibility in the cylinder, and time delay in the pressure valve. The results of the simulation are compared to a simple experiment in which convenient math modeling is performed. These results are then used to optimize the mechanical design and to develop a force control algorithm for the pneumatic cylinder.

키워드

참고문헌

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