气动机械手具有结构简单、制造成本低廉、使用维护方便等优点。特别是在防火、防爆、安全要求高的场合,与液压、电马达控制机械手相比,更显示出其优越性。另一方面,由于空气的可压缩性太大,执行元件实现在任意工作位置上的正确稳定定位的难度大,当执行元件运动的速度变化太大,尤其是在具有较大惯性矩的旋转机械手臂运动时,回转的角度愈大,到达工作定位位置时的速度、冲力愈大,产生的冲击、振动问题愈严重,致使设备的使用寿命降低。气压传动中,通常使用气缸作为执行元件,为了使其工作平稳,在排气回路中设置单向节流阀来控制它的运动速度,在气缸的端头 Pneumatic manipulator has the advantages of simple structure, low manufacturing cost, convenient use and maintenance. Especially in the fire, explosion-proof, high safety requirements of the occasion, compared with hydraulic and electric motor control robot, but also shows its superiority. On the other hand, due to the compressibility of the air is too large, the implementation of components in any position to achieve the correct and stable positioning difficult, when the actuator speed changes too much, especially in the larger moment of inertia of rotating machinery Arm movement, the greater the angle of rotation, arrived at work positioning position speed, the greater the impulse, the impact of the more serious vibration problems, resulting in reduced service life of equipment. Pneumatic drive, the cylinder is usually used as the actuator, in order to make it work smoothly, set in the exhaust circuit to control one-way throttle to its speed, at the end of the cylinder