气动机械手关节结构设计和运动仿真 设计论文

机构创新设计课程论文题目气动机械手关节结构设计和运动仿真系别机电工程系专业模具设计学生姓名学号指导教师职称教师2010年6月26日2摘要随着微电子技术、传感器技术、控制技术和机械制造工艺水平的飞速发展，机器人的应用领域逐步从汽车拓展到其它领域。在各种类型的机器人中，模拟人体手臂而构成的关节型机器人，具有结构紧凑、所占空间小、运动空间大等优点，是应用最为广泛的机器人之一。尤其由柔性关节组成的柔性仿生机器人在服务机器人及康复机器人领域中的应用和需求越来越突出。本课题重点在于气动机械手关节结构参数化设计和其可行性分析。由于气动肌肉柔性关节的研究历史短、资料少，肌肉本身的动特性G17836在研究中，G3252G8504本课题具有一G4462的G19602G5242，在研究G17819G12255中G8892重G19757G5589G6363G7643的G9397G17287。本G7003重点G16311G1927的G19394题G252G252结构设计及仿G11507。本课题中G1039G16213G1881G4493是G726G7081G709设计气动机械手关节结构G727G7082G709关节结构的参数设计G727G7083G709用仿G11507G17731G1226G17839行运动G17819G12255模拟分析G1209G8504来G6925G2904结构设计，G11464到G5483出G9397G5859的结G7536为G8502。G11458G7643G726G9397G17287气动机械手关节结构的设计G16213求。关键词气动肌肉G727结构设计G727气动机械手关节G727运动G4410仿G11507A1A0A2A3A4A5A6A7A8A9A4A5A7A103ABSTRACTWITHTHERAPIDDEVELOPMENTOFMICROELECTRONICTECHNOLOGY,SENSORTECHNOLOGY,CONTROLTECHNOLOGYANDTHERAPIDDEVELOPMENTOFMECHANICALMANUFACTURINGTECHNICS,THEAPPLICATIONOFROBOTSISEXPANDEDFROMCARSTOOTHERFIELDSPROGRESSIVELYINALLTYPESOFROBOTS,THEJOINTTYPEROBOTWHICHISCOMPOSEDOFTHESIMULATIONOFHUMANARMS,HASGREATADVANTAGESSUCHASCOMPACTCONSTRUCTION,LITTLESPACEACCOUNTED,ANDWIDEMOTIONSPACE,ISONEOFTHEMOSTWIDELYUSEDROBOTSINPARTICULAR,FLEXIBLEBIOROBOTWHICHISCOMPOSEDOFFLEXIBLEJOINTSISAPPLICATEDANDNEEDEDMOREANDMOREPROMINENTINTHEFIELDOFSERVICEANDREHABILITATIONTHEFOCUSOFTHISSUBJECTISTHEMACHANISMDESIGNANDITSFEASIBILITYANALYSISOFTHEPNEUMATICMUSCLEARMJOINTS,ANDTHENFINISHTHEMECHANICALDESIGNOFTHEMACHANISMPARTSOFANTHROPOMORPHICROBOTJOINTBECAUSERESEARCHHISTORYOFPNEUMATICMUSCLESFLEXIBLEJOINTSISSHORT,INFORMATIONISLITTLE,THEDYNAMICCHARACTERISTICSOFTHEMUSCLEISSTILLUNDERSTUDY,THISSUBJECTHASCERTAINDIFFICULTY,ANDPAYATTENTIONTOTHESATISFACTIONOFTHESTATICINDEXINTHECOURSEOFSTUDYINGTHEPROBLEMTHISPASSAGEMAINLYRESOLVESMECHANICALDESIGNANDSIMULATIONTHEMAINCONTENTOFTHISSUBJECT1DESIGNTHEJOINTSTRUCTUREOFPNEUMATICMANIPULATOR2PARAMETRICDESIGNOFTHEJOINTSTRUCTURE3USINGSIMULATIONSOFTWARETOSIMULATESTRUCTUREINORDERTOIMPROVETHEMECHANICALDESIGNUNTILOBTAINTHESATISFACTORYRESULTGOALACHIEVETHEOPTIMIZEDDESIGNINGOFPNEUMATICMANIPULATORKEYWORDSPNEUMATICMUSCLESSTRUCTURALDESIGNPNEUMATICMANIPULATORJOINTKINEMATICSEMULATION2目录摘要ABSTRACT第1章绪论A11A11A11A11A11A11A11A11A11A11A11A11A11A11A11A11A11A11A11A11A11A11A11A11A11A11A11A11A11A11A11A11A11111A12A13A14A15A16A17A18A19A20A21A11A11A11A11A11A11A11A11A11A11A11A11A11A11A11A11A11A11A11A11A11A11A11A11A11112A22A23A24A25A26A27A28A29A30A31A32A33A34A35A36A37A38A39A39A39A39A39A39A39A39A39A39A39A39A39A39A39A39A39A39213A22A23A40A41A32A33A35A42A36A43A44A45A39A39A39A39A39A39A39A39A39A39A39A39A39A39A39A39A39A39A39A39A39A39A39414A22A23A24A25A26A31A32A33A46A47A39A39A39A39A39A39A39A39A39A39A39A39A39A39A39A39A39A39A39A39A39A39A39A39A396第2章气动机械手关节结构形式设计A48A48A48A48A48A48A48A48A48A48A48A48A48A48A48A48A48A48A48A48821A49A50A51A52A53A54A55A56A57A58A59A60A48A48A48A48A48A48A48A48A48A48A48A48A48A48A48A48A48A48A48A48A48A48A488211A61A62A63A64A65A66A67A68A69A70A70A70A70A70A70A70A70A70A70A70A70A70A70A70A70A70A70A70A70A70A70A708212A61A62A63A64A65A71A72A70A70A70A70A70A70A70A70A70A70A70A70A70A70A70A70A70A70A70A70A70A70A70A70A708213A61A62A63A64A65A73A74A70A70A70A70A70A70A70A70A70A70A70A70A70A70A70A70A70A70A70A70A70A70A70A70A70922A75A76A77A78A79A80A81A82A83A84A70A70A70A70A70A70A70A70A70A70A70A70A70A70A70A70A70A70A70A70A70A70A70A701123A75A76A77A78A79A85A86A83A84A87A88A70A70A70A70A70A70A70A70A70A70A70A70A70A70A70A70A70A70A70A70A70A70A7012231A89A90A91A92A93A94A95A96A96A96A96A96A96A96A96A96A96A96A96A96A96A96A96A96A96A96A96A96A96A96A9612232A97A89A90A98A99A100A101A96A96A96A96A96A96A96A96A96A96A96A96A96A96A96A96A96A96A96A96A96A96A96A9612233A102A89A90A98A99A100A101A96A96A96A96A96A96A96A96A96A96A96A96A96A96A96A96A96A96A96A96A96A96A96A9614234A103A89A90A98A99A100A101A96A96A96A96A96A96A96A96A96A96A96A96A96A96A96A96A96A96A96A96A96A96A96A9616第3章气动机械手关节结构参数设计A96A96A96A96A96A96A96A96A96A96A96A96A96A96A96A96A96A96A961831A104A105A106A107A108A109A110A110A110A110A110A110A110A110A110A110A110A110A110A110A110A110A110A110A110A110A110A110A110A110A110A110A110A1101832A111A112A113A114A115A104A105A106A107A110A110A110A110A110A110A110A110A110A110A110A110A110A110A110A110A110A110A110A110A110A110A110A110A11018321A116A117A118A119A120A114A115A104A105A106A107A110A110A110A110A110A110A110A110A110A110A110A110A110A110A110A110A110A110A110A11018322A116A121A118A119A120A114A115A104A105A106A122A110A110A110A110A110A110A110A110A110A110A110A110A110A110A110A110A110A110A110A11020323A116A123A118A119A120A114A115A104A105A106A107A110A110A110A110A110A110A110A110A110A110A110A110A110A110A110A110A110A110A110A11022233A124A112A113A114A115A104A105A106A107A110A110A110A110A110A110A110A110A110A110A110A110A110A110A110A110A110A110A110A110A110A110A110A110A11023331A125A126A127A128A129A130A114A115A104A105A106A107A110A110A110A110A110A110A110A110A110A110A110A110A110A110A110A110A110A110A110A11023332A131A126A127A128A129A130A114A115A104A105A106A107A110A110A110A110A110A110A110A110A110A110A110A110A110A110A110A110A110A110A110A1102434A132A112A113A114A115A104A105A106A107A110A110A110A110A110A110A110A110A110A110A110A110A110A110A110A110A110A110A110A110A110A110A110A110A11026第4章气动机械手关节的模拟仿真A133A133A133A133A133A133A133A133A133A133A133A133A133A133A133A133A133A133A133A133A1332741A134A135A136A137A133A133A133A133A133A133A133A133A133A133A133A133A133A133A133A133A133A133A133A133A133A133A133A133A133A133A133A133A133A1332742A134A135A138A139A133A133A133A133A133A133A133A133A133A133A133A133A133A133A133A133A133A133A133A133A133A133A133A133A133A133A133A133A133A1332743A140A141A142A143A144A145A146A147A148A141A149A150A151A133A133A133A133A133A133A133A133A133A133A133A133A133A133A133A133A133A133A133A133A13328431A152A153A154A155A156A157A158A159A160A161A162A163A164A165A165A165A165A165A165A165A165A165A165A165A165A165A165A165A165A165A165A16528432A152A166A154A155A156A157A158A159A160A161A162A163A164A165A165A165A165A165A165A165A165A165A165A165A165A165A165A165A165A165A165A16528433A167A155A156A168A169A170A171A157A158A159A160A161A162A163A164A165A165A165A165A165A165A165A165A165A165A165A165A165A165A165A165A16529434A167A155A156A172A169A170A171A157A158A159A160A161A162A163A164A165A165A165A165A165A165A165A165A165A165A165A165A165A165A165A165A16530435A173A155A156A168A169A170A171A157A158A159A160A161A162A163A164A165A165A165A165A165A165A165A165A165A165A165A165A165A165A165A165A16531436A173A155A156A174A169A170A171A157A158A159A160A161A162A163A175A165A165A165A165A165A165A165A165A165A165A165A165A165A165A165A165A16532437A152A153A166A154A155A156A176A167A155A156A168A169A170A171A176A173A155A156A168A169A170A171A157A158A159A160A161A162A163A164A165A165A16532438A152A153A166A154A155A156A176A167A155A156A172A169A170A171A176A173A155A156A174A169A170A171A157A158A159A160A161A162A163A164A165A165A16533第5章结论A165A165A165A165A165A165A165A165A165A165A165A165A165A165A165A165A165A165A165A165A165A165A165A165A165A165A165A165A165A165A165A16533参考文献A177A177A177A177A177A177A177A177A177A177A177A177A177A177A177A177A177A177A177A177A177A177A177A177A177A177A177A177A177A177A177A177A17734致谢A177A177A177A177A177A177A177A177A177A177A177A177A177A177A177A177A177A177A177A177A177A177A177A177A177A177A177A177A177A177A177A177A177A177A177362第1章绪论11研究气动机械手的意义近20年来，气动技术的应用领域迅速拓宽，尤其是在各种自动化生产线上得到广泛应用。电气可编程控制技术与气动技术相结合，使整个系统自动化程度更高，控制方式更灵活，性能更加可靠；气动机械手、柔性自动生产线的迅速发展，对气动技术提出了更多更高的要求；微电子技术的引入，促进了电气比例伺服技术的发展。现代控制理论的发展，使气动技术从开关控制进入闭环比例伺服控制，控制精度不断提高；由于气动脉宽调制技术具有结构简单、抗污染能力强和成本低廉等特点，国内外都在大力开发研究1。从各国的G15904G1006统G16757G17176G7021来G11487，近30多年来，气动G15904G1006发展G5468G5567。20G1002G1343870年代，G9094G2399与气动G1815G1226的产G1552比G13434G103891，G1379230多年G2530的G1182G3837，在G5049G1006技术发G17810的G8443G13666、G7097本国G4490，G16825比例G5062G17810到64，G10990G14279G6521近55。G6117国的气动G15904G1006G17227G8505G17751G7214，G1306发展G17751G5567。从20G1002G1343880年代G1025G7411开G3999G15气动G1815G1226产G1552的年G17894G3698G10587G1781020G705G1209上，高于G1025国机械G5049G1006产G1552G5191G3355年G17894G3698G10587。G19555G11540微电子技术、PLC技术、G16757G12651机技术、G1268G5875技术和现代控制技术的发展与应用，气动技术G5062成G1038G4466现现代G1268动与控制的关G19202技术G1055G9802。G1268统的机G3132G1166关G14422多由电机G6122G9094G11气G12G2399G13580等来G20549动。G1209G17837种方式来G20549动关G14422，G1313G13634精度可G1209G17810到G5468高，G1306其G2030度G5460G5460G5468大，G4466现关G14422的柔G20046G17828动G17751G3268G19602。G13792柔G20046性G5058的机G3132G1166在和G1166G6521G16314的G3342合使用G7114，G4493G7143G17908成G1166G17535和环G3671的G1272G4487。G3252G8504，在G16780多服G2165机G3132G1166G6122G5259G3809机G3132G1166研究G1025，G11842G1457机G3132G1166的关G14422具有G980G4462的柔G20046性提高到了G980个G5468G18337要的G3332G1313。G1166G12879关G14422具有G11458G2081机G3132G1166G6164不具G3803的G1260G14403特性，G7094可G1209G4466现G17751G1946G11842的G1313G13634控制G2460具有G5468G3921的柔G20046性。G17837种特性G1039要是由关G14422G6164G18331用的对抗性G13920G13917G20549动方式G6164G1927G4462的。G11458G2081G8181G1235生G10301关G14422的G20549动方式在G1235生机G3132G1166G1025得到G17246来G17246多的应用。在G17837种应用G1025G1038得到G12879G1296生G10301关G14422的G14403G3921特性，G980G14336都G18331用具有G12879G1296生G10301G13920G13917特性2的G1166G5049G13920G13917。气动G13920G13917是G1166G5049G13920G13917G1025出现G17751G7101、应用G17751广泛的G980种G20549动G3132，具有G18337G18339G17743、结构简单G2462控制G4493G7143等G1260点，在G12879G1166机G3132G1166、G10240G15904机G3132G1166G2462G5259G3809G17753G2173G3132械G1025得到了应用。其G3534本应用形式大都G18331用G980对气动G13920G13917组成关G14422的方式。气动G13920G13917最简单和最常见的使用方式是利用G980对气动G13920G13917G1209生G10301体G1025拮抗G13920的形式G20549动关G14422，G17837种方式克服了气动G13920G13917变化长度G17751小的缺点，能够G4466现大的转动G1313移。G13792且由于其G12879G1296生G10301体G20549动关G14422的方式，G3252G8504具有G2030度和G1313G13634能独立控制等G1235生关G14422具有的G1260点3。气动机械手是集机械、电气、气动和控制于G980体的典型机电G980体化产品。近年来，机械手在自动化领域G1025，特别是在有毒、放射、G7143燃、G7143爆等恶劣环G3671内，与电动和G9094G2399G20549动的机械手相比，显示出独特的G1260G17246性，得到了G17246来G17246广泛的应用4。12气动机械手在国内外的发展现状及应用由于机G3132G1166G6122机械手都需要能G5567速、G1946G11842的抓取G5049G1226，G3252G13792对机G3132G1166G6122机械手提出了更高的要求，即他们必须具有高G4462G1313精度、能G5567速反应、有G980G4462的承载能力、足够的空间和灵活的自由度G1209G2462在任意G1313G13634都能自动G4462G1313。G1268统观点认G1038，由于气体具有G2399缩性，G3252G8504，在气动伺服系统G1025要G4466现高精度G4462G1313比G17751G3268G19602G11尤其在高速情况下，G1296乎更G19602想象G12。G8504外，气源G5049作G2399力G17751低，抓举力G17751小。气动技术作G1038机G3132G1166G1025的G20549动功能G5062经被G5049G1006界广泛G6521受，对于气动机G3132G1166伺服控制体系的研究G17227G8505G17751G7214，G1306G5062取得了G18337要成果，它在G5049G1006自动化领域应用正在受到G17246来G17246多的广泛关注。90年代初，有布鲁塞尔皇G4490军事学院YBANDO教授领导的综合技术部开发研制的电子气动机G3132G1166“阿G3534里斯”六脚勘测员，也被称G1038FESTO的“六足动G10301”。YBANDO教授G18331用了G1002界上著名的德国FESTO生产的气动G1815G1226、可编程控制G3132和G1268G5875G3132等，创G17908了G980个在荷马史诗G1025最健壮最勇敢的希腊英雄阿G3534里斯。它能在G1166不G7143进入的危险区域、污染G6122放射性的环G3671G1025进G15904G3332形侦察。六脚电子气动机G3132G1166的上方安装了G980个照相机来探视障碍G10301，能安全的G13481G17819它，G5194在G15904G17220G17819程G1025G16772G5417和G6922集G6980G6466。六脚电子气动机G3132G1166G15904G17220的G6164有程G5219由FPC101B可编程控制G3132控制，FPC101B能在六个不G2528方G2533控制机G3132G1166的G17828动，最大G15904G17220A178A179A180A181A182A183A184A185A186A187A182A183A185A1883速度01M/S。G17902常G3926果有G989个脚与G3332G19766G6521G16314，机G3132G1166G1427能G1209G980种G5191G12295的G4051G5589G15904G17220，六脚G1025的G8611G980个脚都有G989个自由度，G980个G11464线气G13580G6238脚提G17227、放下，G980个G6682动马G17810控制脚G1292展、G17876G3250，G2490G980个G6682动马G17810G2029G17139G17143G3272G13481脚的G17736G5527作G7071转G17828动。G8611个气G13580都装G3803了调G14422速度用的单G2533G14422G8981G19412，使机械G20549动部G1226在G17828动G7114G1457G6357G5191G12295，即在G7092G13435调速G10378G5589下G5049作。控制气G13580的G19412内G13634在机G3132G1166体内，由FPC101B可编程控制G3132控制。G5415G6521G17902电源G7114，气动G19412被G2011G6454到G5049作G10378G5589G1313G13634，G5415关闭电源G7114，他们G1427G3250到初G3999G1313G13634。G8504外，G6817作G13785能在任G1321G980点上G1584G8502机G3132G1166的G17828动，G3926果机G3132G1166的G1268G5875G3132在它的有G6940G14551G3272内G7828测到障碍G10301，机G3132G1166也G1262自动G1584G8502。由G8733G16846G4053大学G7460G7021G12197学研究院G16786G16757的气动G6868G3693机G3132G1166，它能在G1016个相G1126G3414G11464的G15932G19766上G15904G17220G11G2265G6336从G3332G19766到G3693G19766G6122G13785从G3693G19766到G3837G14469G7507上G12。G16825机G3132G1166G17736G5527的G3290G2620G17805上装G3803G11540等G17329G12175G11G7693G6466G8505G17329G16786G13634G12的G2572G11436和气G13580，G980组G2572G11436G2572力与G2490G980组G2572G11436G2572力的G1144G7379G1144G6454，G12879G1296脚G17379G1296的G17828动方式，使机G3132G1166产生G7071转G8505进G17828动。G17837种G6868G3693式机G3132G1166可被用于G5049具G6656G17828G6122G6203G15904多种G6817作，G3926在G7692能发电G12461、高G4630G5326G12581G10301气动机械手G1313G13634伺服控制系统的研究G6122G14349G14346上进G15904G9177G6207、G7828G20576和安装G5049作。机G3132G1166用G17977控方式进G15904G2334自动G6817作，G6817作G13785G2494需G17767入G17828G15904的G11458G7643G17329G12175，G9994G2530G16757G12651机G1427能自动G16757G12651出必要的单G8505G17828G15904。G6817作G13785可对机G3132G1166进G15904G11429控。从上G17860G4466例可见，气动机G3132G1166G5061经取得了G4466G17148性的进展。G4613它在G989G13512空间内的任意G4462G1313、任意G4051G5589抓取G10301体G6122G6581手G13792G16340，“阿G3534里斯”六脚勘测员、G6868G3693机G3132G1166都显示出它们具有足够的自由度来G17878应G5049作空间区域。气动技术发展G14279G1182，用G11464线气G13580、G7071转马G17810来G16311G1927气动机G3132G1166G1025G980G14336的关G14422活动和空间自由度G5061经不成G19394G20076了，气G13580低速G17828动G5191G12295性G17837G980点也不成G19394G20076了，G5468多G3342合使用低速气G13580，其速度在5MM/S的情况下也能G5191G12295G17828G15904。G3252G8504从G7693本上G6925变了G1268统上的观点“由G2399缩性的空气作G1038G1183G17148的气G13580G17828动速度有G1926G1999G20088动G6122低速G17828G15904不G5191G12295的缺G19531”。气G13580的G17828G15904从低速5MM/S到高速510M/S，G15932G7138了它有G980个G2325G2010G1028G4512、宽广的速度区域，G1209G17878应各种G4630G8437的速度等G13435需要5。气动技术经G2394了G980个G9471长的发展G17819程，G19555G11540气动伺服技术G17220出G4466G20576G4472，气动技术G2462气动机械手G17826来了G4865新的春G3837。G11458G2081在G1002界上形成了G1209G7097本、G13666国和G8443盟气动技术、气动机械手G989足鼎立的局G19766。G6117国对气动技术和气动机械手的研究与应用都比G17751G7214，G1306G19555G11540投入力度和研发力度的加大，G6117国自G1039研制的G16780多气动机4械手G5062经在汽车等G15904G1006G1038国G4490的发展进G8505发挥G11540G18337要作用。G19555G11540微电子技术的迅速发展和机械加G5049G5049艺水G5191的提高G2462现代控制理论的应用，G1038研究高性能的气动机械手奠G4462了坚G4466的G10301G17148技术G3534础。由于气动机械手有结构简单、G7143G4466现G7092G13435调速、G7143G4466现G17819载G1457护、G7143G4466现G3809杂的动作等诸多独特的G1260点。由于气G2399G1268动系统使用安全、可靠，可G1209在高温、震动、G7143燃、G7143爆、多尘埃、强磁、辐射等恶劣环G3671下G5049作6。G13792气动机械手作G1038机械手的G980种，它具有结构简单、G18337G18339G17743、动作迅速、G5191G12295、可靠、G14422能和不污染环G3671、G4493G7143G4466现G7092G13435调速、G7143G4466现G17819载G1457护、G7143G4466现G3809杂的动作等G1260点7,89。G6164G1209，气动机械手被广泛应用于汽车制G17908G1006、G2334导体G2462G4490电G15904G1006、化肥和化G504910，食品和药品的G2265装7,1112、精密仪G3132和军事上13,1415。现代汽车制G17908G5049厂的生产线，尤其是G1039要G5049艺是焊G6521的生产线，大多G18331用了气动机械手。车G17535在G8611个G5049G5219的移动；车G17535外壳被真空G2572G11436G2572G17227和放下，在指G4462G5049G1313的夹紧和G4462G1313；点焊机焊头的G5567速G6521近、减速软G11540陆G2530的变G2399控制点焊，都G18331用了各种特殊功能的气动机械手。高频G10587的点焊、力控的G1946G11842性G2462完成整个G5049G5219G17819程的高度自动化，堪称是最有代G15932性的气动机械手应用G1055G9802。在彩电、冰箱等G4490用电G3132产品的装配生产线上，在G2334导体芯片、印刷电路等各种电子产品的装配G8981水线上，不仅可G1209G11487到各种大小不G980、形G10378不G2528的气G13580、气爪，还可G1209G11487到G16780多灵巧的真空G2572G11436将G980G14336气爪G5468G19602抓G17227的显像管、纸箱等G10301品G17743G17743G3332G2572住，G17828送到指G4462G11458G7643G1313G13634。对加速度限制G2325G2010严格的芯片G6656G17828系统，G18331用了G5191G12295加速的SIN气G1358016。气动机械手用于对食品G15904G1006的粉G10378、粒G10378、块G10378G10301G7021的自动G16757G18339G2265装；用于烟草G5049G1006的自动卷烟和自动G2265装等G16780多G5049G5219。G3926酒、油漆灌装气动机械手；自动加盖、安装和拧紧气动机械手，牛奶盒装箱气动机械手等8,11。G8504外，气动系统、气动机械手被广泛应用于制药与医疗G3132械上。G3926气动自动调G14422病床15，ROBODOC机G3132G1166，DAVINCI外G12197手术机G3132G1166等17。13气动技术发展状况及优缺点气动技术是G980门正在蓬勃发展的新技术，气动G1815G1226是气动技术G1025最G18337要的组成部G2010，用气动G1815G1226组成的G1268动和控制系统G5061广泛应用于国民经济各部门的成套G16786G3803和自动化生产线上。气动技术是G1209G2399缩气体G11例G3926G2399缩空气G6122惰性气体和热A178A179A180A181A182A183A184A185A186A187A182A183A185A1885气体G12G1038G5049作G1183G17148进G15904能G18339和信号的G1268G17894，从G13792G4466现生产G17819程自动化的G980门技术，它G2265含气G2399G1268动和气动控制G1016方G19766的内G449318,19。气动技术的发展G2394程，是从单个G1815G1226到控制系统，从单纯机械系统到机电G980体化的G3809杂高G12197技产品的G2394程。G1166G12879对空气进G15904利用，G1209其G1038G1268G17894能G18339的G1183G17148可追溯到几千年G1209G2081。G1306真正对G17227性G17148和G3534本原理进G15904系统的研究也是从本G1002G13438开G3999，形成G1209气G2399G1268动系统动力学和气动控制理论G1038G1039要内G4493的G980门学G12197气动系统理论。G11458G2081，气动和G9094G2399是G1016种G17751G1038普遍应用的G1268动和控制方式，G1016G13785有G16780多相G2528点，也有G16780多不G2528点，气动技术真正成G1038全G1002界各个G5049G1006部门G6164G6521受G5194广泛应用，是由于G7097益迫G2011的生产自动化和G6817作程G5219合理化的需要，也由于气动技术具有G1209下G16780多G1260点G111G12气动技术G1209空气G1038G5049作G1183G17148，空气G19555处可取，且粘性小，在管内G8981动阻力小，G1427于集G1025供气和远G17329G12175G17767送。G3252G13792，大多G6980G5049厂有方G1427的G2399缩空气气源。作G1038G5049作G1183G17148的G2399缩空气的G10301理性G17148，是气动技术在广泛的各种应用具有安全、方G1427和费用低的G1260点。G2399缩空气没有生产火G14469的危险。G3252G8504，它G3999于有G7143燃G6122爆炸潜在危险的G5049矿。G112G12气动G1815G1226机构简单，价格低廉，用G17819的空气可G2533大气排放，处理方G1427，不必使用G3250G6922管道。G113G12气动系统G9177G8917，即使有G8856G9443，也不G1262像G9094G2399系统G18039G7691污染产品和环G3671，不受电磁G5190G6212，电子系统G2029有G1055。G11G23G12气动系统G13512护不G3809杂，也不需要特殊的G3533G16769和G4466G20576G16786G3803。G11G24G12G17878应性强，现有的机G3132可方G1427的G6925G1038气动G1268动，气G13580可G1209G11464G6521安装在要求出力的G3332方。G11G25G12G1427于进G15904能G18339G1660G4396，可G1209进G15904应G5625G6122系统需要用。G11G26G12气G2399G1268动本G17535有G17819载G1457护性能。气动G6203G15904G1815G1226能长G7411在G9397G17139荷下G5049作，在G17819载G7114自动G1584G8502。G11G27G12气动G1815G1226G17828动速度高，普G17902气G13580的G17828动速度G980G14336G103800507M/S，有的高G1781013M/S，高速气G13580可G1781015M/S。调G7609G17176G7021G15932G7138，G11458G2081气动装G13634在G5049G1006自动化装G3803G1025G2356G5468G18337要的G3332G1313。6G5415G9994，气动技术也有其缺点G111G12G2399缩空气需要进G15904G19512尘、G19512水处理。G112G12空气的可G2399缩性使系统G6940G10587低，且使气动系统的G12295G4462性G5058，G13485G1313G13634和速度的精G11842控制G5114来G5468大的G5445G2721。G113G12系统G17828G15904G7114排放空气的G3134G3780G17751大。G11G23G12气动信号的G1268G17894速度远比电信号低，G13792且有G17751大的G5322G17843和G3845真，G3252G13792气动控制技术不G4464用于高速G1268G17894和处理信G5699的G3809杂系统，G13792且气动信号的G1268送G17329G12175也受到限制。G4625管气动技术上有G980G1135缺点，G1306它的G1260点还是G1039要的，G6164G1209气动技术能在各个G5049G1006部门G1025得到G7097益广泛的应用。G13792气动G1815G1226更是G980种经济G4466用的机械化、自动化的理想G1815G1226。现在，气动技术和电子电G3132、G9094G2399技术G980G7691，都成G1038自动化生产G17819程的有G6940技术G1055G980，在国民经济G1025G17227G11540G17246来G17246大的作用。气动技术由G20130动技术G2462G9094G2399技术G9448变、发展G13792成G1038独立的技术门G12879不到50年，G2376G5062经G1817G2010显示出它在自动化领域G1025强大的生G2641力，成G1038G1120G2325G1002G13438应用最广、发展最G5567，也最G4493G7143G6521G6922G2462G18337视的技术G1055G980，气动技术G5061成G1038各个G15904G1006不可缺G4581的G980部G2010。在国外，气动被称G1038“廉价的自动化技术”。气动技术由几个G1039要的G2394史发展G19466G8585。G1427950年代初，大多G6980G1815G1226从G9094G2399G1815G1226G6925G17908G6122G9448变G17819来，体G12227G5468大。60年代，开G3999构成G5049G1006控制系统，应用成体系，不G1889与G20130动技术相提G5194论。在70年代，由于与电子技术的结合应用，在自动化领域得到广泛的G