CAJ | 학술논문

采用气液联动、PLC控制的方式，高度模拟真人挥动手臂的发球方式，用液压缸带动发球机移动变位，用气压缸模拟手臂动作，用伺服电机带动球拍模拟手腕角度发出旋转球，同时用PLC控制各执行机构运动，突破了现有摩擦轮发球和一般直板式发球模式的局限，可实现各种旋球的随机变向变位发球，具有高度仿真性。
채용기액련동、PLC공제적방식，고도모의진인휘동수비적발구방식，용액압항대동발구궤이동변위，용기압항모의수비동작，용사복전궤대동구박모의수완각도발출선전구，동시용PLC공제각집행궤구운동，돌파료현유마찰륜발구화일반직판식발구모식적국한，가실현각충선구적수궤변향변위발구，구유고도방진성。
Using pneumatic & hydraulic actuators and PLC control,real human arm movements playing table tennis was simula-ted. The hydraulic cylinder was used to push the pitching machine to move. The pneumatic cylinder was used to simulate the arm movements. Servo motor was used to drive the racket to simulate wrist angle to serve an apinning ball. At the same time,PLC was used to control the movements of cylinders and motors. It is superior to friction gear serve and candy bar serve in that it can serve all kind of apinning balls and has highly simulation.