In this article, the dynamics of a double-acting pneumatic actuator was experimentally studied. To understand the details of dynamics and provide experimental data for further modeling and numerical simulation of actuators, a special test bench was designed. The bench includes a high-resolution linear encoder as well as a dSPACE 1104 data acquisition board, that permits high-frequency sampling to identify important features in the measured data at different source pressures; it also incorporates two pressure sensors, a solenoid valve, a push button, and a measuring interface to automate the acquisition of data. High precision measurements of the time of displacement and position of the moving elements, piston rod or cylinder body, allowed us to calculate velocity and acceleration. We found that the velocity of the moving element is near constant in a major part of the stroke. The recording of the dynamics of upstream and downstream pressures in the pneumatic cylinder chambers at different source pressure levels permitted us to calculate the force exerting by the piston and to explain the kinematics of the moving element. The matching of the upstream and downstream pressure plots with the displacement of the moving element allowed us to establish the instant when the moving starts, and this way evaluates such an important feature as the static friction force between the piston and cylinder body. Various scenarios were used in the experiments, including the fixing of the piston rod, which allow the cylinder body to move or vice versa, the horizontal or vertical position of the pneumatic cylinder and the forward or backward stroke movement. The results obtained with the proposed experimental bench provide essential information on the dynamics of a double-acting pneumatic cylinder that can be included in the mathematical model of the cylinder and used in mobile robotics.

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双作用气缸的实验研究

在本文中，对双作用气动执行器的动力学进行了实验研究。为了了解动力学细节并为执行器的进一步建模和数值模拟提供实验数据，设计了一个特殊的测试台。该工作台包括一个高分辨率线性编码器和一个 dSPACE 1104 数据采集板，允许高频采样以识别不同源压力下测量数据中的重要特征；它还包含两个压力传感器、一个电磁阀、一个按钮和一个测量接口，用于自动采集数据。对移动元件、活塞杆或气缸体的位移时间和位置进行高精度测量，使我们能够计算速度和加速度。我们发现运动元件的速度在行程的主要部分几乎是恒定的。记录不同源压力水平下气动缸腔室中上游和下游压力的动力学，使我们能够计算活塞施加的力并解释运动元件的运动学。上下游压力曲线与运动元件位移的匹配使我们能够确定运动开始的瞬间，从而评估活塞与缸体之间的静摩擦力等重要特征。实验中使用了各种场景，包括固定活塞杆，使气缸体移动，反之亦然，气缸的水平或垂直位置和前进或后退行程运动。使用所提出的实验台获得的结果提供了双作用气缸动力学的基本信息，这些信息可以包含在气缸的数学模型中并用于移动机器人。