外文翻译--气动机械手

气动机械手随着微电子技术、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。1.1 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 ，性 更 可 气动机械手、柔性自动生产线的迅速发展， 气动技术 出 更 更高的 求 微电子技术的 ， 电气 服技术的发展。 控制 的发展，使气动技术从 关控制 服控制，控制 度 高 由 气动 宽 制技术具有结构 、 和成等currency1点，“在大 发fi1。从各的fl 统来，近30 年来，气动fl 发展 。2070年，”与气动的产 为9:1，而30 年的 ，在工 技术发的、， 到6:4， 近5:5。 的气动fl 步，发展。从2080年 中 气动产的年 20 上，高中机械工 产平 年 。随着微电子技术、PLC技术、 机技术、传感技术和 控制技术的发展与应用，气动技术成为 传动与控制的关 技术之一2。传统的机器人关节 由电机 气 ” 等来动。 种方式来动关节 度可 到 高，其 度 大， 关节的柔 运动。而柔性的机器人在和人的 合使用 ， 造成人 和 的 。 ，在 服务机器人 康复机器人fi中， 机器人的关节具有一的柔 性高到 一个 的。人类关节具有 机器人所 具 的优 currency1性，既可 准 的 控制又具有 好的柔 性。 种currency1性主 是由关节所采用的 性肌肉动方式所决的。 模仿生物关节的动方式在仿生机器人中得到越来越 的应用。在 种应用中为得到类似生物关节的 好currency1性，一般采用具有类似生物肌肉currency1性的人工肌肉。气动肌肉是人工肌肉中出 早、应用广泛的一种动器，具有量轻、结构 及控制 等优点，在类人机器人、爬fl机器人及康复辅助器械中得到应用。其基应用形式大采用一 气动肌肉组成关节的方式。气动肌肉最 和最常见的使用方式是利用一 气动肌肉 生物体中拮 肌的形式动关节，种方式克服 气动肌肉变化长度小的缺点， 够 大的转动移。而且由其类似生物体动关节的方式， 具有 度和 独立控制等仿生关节具有的优点3。气动机械手是集机械、电气、气动和控制 一体的典型机电一体化产品。近年来，机械手在自动化领域中，currency1别是在有毒、放射、 燃、 爆等恶劣 “，与电动和”动的机械手相 ，显示出独currency1的优越性，得到 越来越广泛的应用4。1.2气动机械手在国内外的发展现状及应用由 机器人 机械手需 速、准 的抓取工， 而 机器人 机械手 出 更高的 求，即他们必须具有高 度、 速反应、有一的承载、足够的空间和灵 的自由度 及在任意 自动。传统观点认为，由 气体具有”缩性， ，在气动 服系统中 高度 尤其在高速情况下，似乎更想象 。，气源工作”，抓举小。气动技术作为机器人中的动功 经被工 界广泛受， 气动机器人 服控制体系的fi步，取得 成果，它在工 自动化领域应用正在受到越来越 的广泛关注。90年 初，有布鲁塞尔皇军事学院Y.Bando教授领导的综合技术部 发制的电子气动机器人“阿基里斯”六脚勘测员，也被称为FESTO的“六足动物”。Y.Bando教授采用 界上著名的德FESTO生产的气动、可编程控制器和传感器等，创造 一个在荷马史诗中最健壮最勇敢的希腊英雄阿基里斯。它 在人 的危险区域、 放射性的 中 fl形 。六脚电子气动机器人的上方 一个 相机来 物， 的 它， 在fl 程中 和 集 。六脚电子气动机器人fl 的所有程 由FPC101-B可编程控制器控制，FPC101-B 在六个 方 控制机器人的运动，最大fl速度0.1m/s。 常 果有 个脚与 ，机器人 一种平 的 fl，六脚中的 一个脚有 个自由度，一个 线气 脚 、放下，一个动马控制脚展、，一个动马currency1 脚的“作转运动。 个气 节速度用的 节fi，使机械动部在运动 fl平 ，即在 速 下工作。控制气 的fi“ 在机器人体“，由FPC101-B可编程控制器控制。 电源 ，气动fi被 到工作 ，关 电源 ，他们 到初 。，作 在任一点上”机器人的运动， 果机器人的传感器在它的有“测到 物，机器人也 自动”。由 大学学fi院的气动机器人，它 在个相 的 上fl 从 到 从 到上 。机器人“的 上 着等 步 的 和气 ，一组 与一组 的 ，类似脚 似的运动方式，使机器人产生转步 运动。 种式机器人可被用 工具 运 fl 种作， 在 发电 、高 物气动机械手 服控制系统的fi 上 fl 、 和 工作。机器人用 控方式 fl 自动作，作需 运fl的 ， 机自动 出必 的 步运fl。作可 机器人 fl 控。从上 可见，气动机器人 经取得 性的 展。 它在 空间“的任意、任意 抓取物体 手而 ，“阿基里斯”六脚勘测员、机器人显示出它们具有足够的自由度来 应工作空间区域。气动技术发展 ，用 线气 、转马来决气动机器人中一般的关节 动和空间自由度 经 成 ，气 速运动平 性 一点也 成 ， 合使用速气 ，其速度在5mm/s的情况下也 平 运fl。 从 上变 传统上的观点“由”缩性的空气作为 的气 运动速度有 动 速运fl 平 的缺”。气 的运fl从速5mm/s到高速510m/s， 它有一个 分丰富、宽广的速度区域， 应各种 次的速度等需 5。气动技术经历 一个漫长的发展 程，随着气动 服技术 出 室，气动技术及气动机械手迎来 崭新的春。 在界上形成 、和盟气动技术、气动机械手 足鼎立的局 。 气动技术和气动机械手的fi与应用 ，随着投 度和发度的 大， 自主制的 气动机械手经在汽车等fl 为的发展 步发挥着 作用。随着微电子技术的迅速发展和机械 工工艺水平的 高及 控制 的应用，为fi高性 的气动机械手奠 坚 的物 技术基础。由 气动机械手有结构 、 速、 载护、 复杂的动作等诸 独currency1的优点。由 气”传动系统使用 、可 ，可 在高温、震动、 燃、 爆、 尘埃、磁、辐射等恶劣 下工作6。而气动机械手作为机械手的一种，它具有结构、量轻、动作迅速、平 、可 、节 和 、 速、 载护、 复杂的动作等优点7,8-9。所 ，气动机械手被广泛应用 汽车制造 、 导体及电fl 、化肥和化工10 ，食品和药品的 7,11-12、 密仪器和军事上13,14-15。汽车制造工厂的生产线，尤其是主 工艺是焊的生产线，大 采用气动机械手。车 在 个工 的移动 车 壳被真空 和放下，在指工的夹紧和 点焊机焊头的速近、减速软着陆的变”控制点焊，采用 各种currency1殊功 的气动机械手。高频 的点焊、控的准 性及完成整个工 程的高度自动化，堪称是最有 性的气动机械手应用之一2。在彩电、冰箱等用电器产品的 配生产线上，在 导体芯片、印刷电路等各种电子产品的 配水线上， 仅可 到各种大小 一、形 的气 、气爪，还可 到 灵巧的真空 将一般气爪 抓的显像管、纸箱等物品轻轻 住，运送到指 。 速度限制 分严格的芯片 运系统，采用 平 速的SIN气 16。气动机械手用 食品fl 的粉、粒、块物的自动量 用 烟草工 的自动卷烟和自动 等 工 。 酒、油漆灌 气动机械手 自动盖、 和拧紧气动机械手，牛奶盒 箱气动机械手等8,11。，气动系统、气动机械手被广泛应用 制药与医疗器械上。 ：气动自动 节病床15，Robodoc机器人，daVinci手术机器人等17。1.3 气动技术发展状况及优缺点气动技术是一门正在蓬勃发展的新技术，气动是气动技术中最 的组成部分，用气动组成的传动和控制系统 广泛应用 民经济各部门的成套 和自动化生产线上。气动技术是 ”缩气体 ”缩空气 惰性气体和热气体 为工作 fl 量和信号的传 ，从而 生产 程自动化的一门技术，它含气”传动和气动控制方 的“ 18,19。气动技术的发展历程，是从 个到控制系统，从 纯机械系统到机电一体化的复杂高技产品的历程。人类 空气 fl利用， 其为传 量的 可追溯到几千年 。真正性 和基原 fl系统的fi也是从 ，形成 气”传动系统动学和气动控制 为主 “ 的一门学气动系统 。，气动和”是种为普遍应用的传动和控制方式，有 相点，也有 点，气动技术真正成为 界各个工 部门所受 广泛应用，是由 益迫的生产自动化和作程 合 化的需 ，也由 气动技术具有 下 优点:1 气动技术 空气为工作 ，空气随处可取，且粘性小，在管“动阻小， 集中供气和远 送。 而，大 工厂有方 的”缩空气气源。作为工作 的”缩空气的物 性 ，是气动技术在广泛的各种应用具有 、方 和费用的优点。”缩空气没有生产火的危险。 ，它 有 燃 爆炸潜在危险的工矿。气动机构 ， 格，用 的空气可 大气 放，处 方 ，必使用 管 。气动系统 ，即使有 ，也 像”系统 产品和 ，受电磁 ，电子系统有之。气动系统护 复杂，也 需 currency1殊的 和 。应性， 有的机器可方 的为气动传动，气 可 在 求出的方。fl 量 ，可 fl应 系统需 用。气”传动 有 载护性 。气动 fl 长 在 荷下工作，在 载 自动”。气动运动速度高，普 气 的运动速度一般为0.050.7m/s，有的高13m/s，高速气 可15m/s。 ， 气动 在工 自动化 中占 的。，气动技术也有其缺点:1 ”缩空气需 fl 尘、 水处 。空气的可”缩性使系统 ，且使气动系统的 性， 和速度的 控制 来 大的 。系统运fl 放空气的 大。气动信号的传 速度远 电信号，而且有大的 和真， 而气动控制技术 用 高速传 和处 信的复杂系统，而且气动信号的传送 也受到限制。管气动技术上有一缺点，它的优点还是主 的，所 气动技术 在各个工 部门中得到益广泛的应用。而气动更是一种经济 用的机械化、自动化的 想。 在，气动技术和电子电器、”技术一 ，成为自动化生产 程的有技术之一，在民经济中着越来越大的作用。气动技术由动技术及”技术变、发展而成为独立的技术门类 到50年，currency1经分显示出它在自动化领域中大的生“，成为 应用最广、发展最，也最 及 的技术之一，气动技术 成为各个fl 可缺的一部分。在，气动被称为“ 的自动化技术”。气动技术由几个主 的历史发展fi。50年 初，大 从”造 变 来，体fl 大。60年 ， 构成工 控制系统，应用成体系， 与动技术相 。在70年 ，由 与电子技术的结合应用，在自动化领域得到广泛的广。80年 是集成化、微型化的 。90年 初，气动技术突 传统的区，经历着飞 性的发展，复 度0.01mm的模块化气动机械手，5mm/s速平 运fl及510m/s高速运动的 气 相 。在与机、电气、传感、 等技术相结合的基础上产生 气动 一” 气动 与 服、 fi、模块化机械手 。气动 服技术可使气 在气动机械手 服控制系统的fi高速运动3mm/s情况下 任意点自动。 fi技术 分 想的决 整个自动化生产线的分与集中控制 。 气动的发展 是微型化、集成化、模块化、 化20-22。1.4 气动机械手的发展方向1) 复高 度 度是指机器人、机械手到指点的 程度，它与动器的分 及反 有关4。复 度是指 果动作复 次，机械手到 的 程度。复 度 度更 ， 果一个机器人 够 ， 常 显示一个的， 个是可 测的， 可 编程 正。复 度限的是一个随机的，它 一次 复运fl机器人来测13。随着微电子技术和 控制技术的发展， 及气动 服技术 出 室和气动 服系统的成套化。气动机械手的复 度将越来越高，它的应用领域也将更广， 工 和军事工 等2。2) 模块化有的 有系 导 动 的气动机械手称为 的传技术，而模块化 的气动机械手称为 传技术。模块化 的气动机械手 组合导 动 更具灵 的 体系。它集成电和 电 及气管的导 系统 ，使机械手运动自 。由 模块化气动机械手的动部采用 currency1殊的“承，使它具有高 性、高度及 的导 度。优 的 度也是新一气动机械手的一个 currency1点。模块化气动机械手使 一机械手可 由 应用 的模块而具有 的功 ，大 机械手的应用，是气动机械手的一个 的发展方 23。 fi的出 高模块化气动机械手和气动机器人的性 到 分 的fl作用。 为 fi来 是模块化的 ，currency1别是紧凑型CPfi，它 分上的集中控制 分 的作用，currency1别 机械手中的移动模块。3) 机电气一体化由“可编程 控制器 传感器 气动”组成的典型的控制系统 是自动化技术的 方 发展与电子技术相结合的自 应控制气动，使气动技术从“ 关控制” 到高 度的“反 控制” 配线的复合集成系统，仅减配线、配管和，而且 ，大大 高 系统的可 性2,24。而 ，电磁fi的线 功 越来越小，而PLC的出功 在 大，由PLC 控制线 变得越来越可 。气动机械手、气动控制越来越 PLC，而fi技术的发展，又使PLC在气动机械手、气动控制中变得更 得应手25。参考文献1 气动手 M 上 学技术出 ，2005 2628 SMC 中 有限 用技术M ：机械工 出 ，2005 3637 立 ， 立 气动肌肉动仿生关节的 分 J 机床与”，2007, 35(6):218219 Qiu Yangzhen, Lin Yimeng. 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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