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For the impact characteristic of traditional pneumatic rotary actuator in the positioning process, a flexible positioning method is proposed based on a novel pneumatic rotary actuator. By using the flexible impact degree and average acceleration to evaluate stability and quick response, respectively, the velocity control optimization model based on S-curve is established. By compensating the friction moment of the system with the servo control of proportional valve-controlled rotary actuator, the changing regularity of two cavity pressure difference and control current are obtained. Simulation and experiment verify that velocity curve is smooth and not mutated. The research in this paper is universality, and it can be extended to other areas of the positioning system. It can provide the theoretical basis for study on impact characteristic of positioning process.