研究生: |
蔡承晏 Cheng-Yen Tsai |
---|---|
論文名稱: |
無耗能調整可變負載靜平衡機構設計 Design of a Statically Balanced Mechanism for Variable Payloads with Energy-Free Adjustment |
指導教授: |
陳羽薰
Yu-Hsun Chen 郭進星 Chin-Hsing Kuo |
口試委員: |
陳羽薰
Yu-Hsun Chen 郭進星 Chin-Hsing Kuo 林柏廷 Po-Ting Lin |
學位類別: |
碩士 Master |
系所名稱: |
工程學院 - 機械工程系 Department of Mechanical Engineering |
論文出版年: | 2019 |
畢業學年度: | 107 |
語文別: | 中文 |
論文頁數: | 54 |
中文關鍵詞: | 靜力平衡機構 、非單一位置 、可變負載 、不須外部能量 |
外文關鍵詞: | static balancing mechanism, at any position, variable payload, energy-free |
相關次數: | 點閱:293 下載:0 |
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靜力平衡機構 (static balancing mechanism) 是一種使用能量元件 (如彈簧) 來抵銷機構上負載的重力位能的機構,意即在機構作動的空間中總能量保持定值,藉此降低驅動機構所需的能量。這樣的概念也已廣泛應用於工業機械手臂、手術器械與復健機構等領域。而在本領域中首先分兩大區塊,一種是負載固定,即機構總位能曲線不變,相關的研究已臻成熟;另一區塊則有較大發展空間,即機構具備改變負載之功能。然而改變負載,意味著重力位能曲線改變,需要添加外部的能量達成。對此本領域再分兩區塊,在Chu & Kuo[1]提出的單自由度自主調節重力平衡器論文中有對兩區塊做探討。一種需要外部能量 (non energy-free) ,使用諸如馬達、氣動式元件或是利用負載自身的重力來改變機構構形以符合新的重力位能曲線;另一種不需外部能量 (energy-free) ,利用幾何特性設計機構,使調整機構構型的過程不需要額外能量。然而在不需外部能量即可更改負載的研究中,皆要求機構在更改負載的同時必須將機構固鎖於單一的位置,而本位置與設計條件有關,然而在許多應用上,這樣的限制十分不便。
本研究係以 Herder 等人所提出的 spring-to-spring[2]以及virtual spring[3]為基礎,設計出一組特殊幾何機構,透過在不同機構作動狀態下固鎖特定接頭,使機構能夠在作動空間中的各個位置改變負載,藉此改善只可於單一特定位置更改負載的缺點,並且保留不需外部能量 (energy-free) 的特點。之後利用分析與模擬軟體 Matlab & Adams 分析機構並進行驗證。
A static balancing mechanism is a mechanism that uses power storage components (like spring) to eliminate the potential energy of the payload, which means while mechanism is moving, the total energy remains constant, and leads to reduction of input energy. This concept has been applied to many field like industrial robot arm, surgery, rehabilitation, etc. The field of static balancing can first be separated into two categories, one is fixed payload mass, which means the curve of potential energy remains the same, and this category has been developed maturely; another category, which payload mass can be changed, on the other hand, has certain space of development. However, the change of payload mass means the change of the curve of potential energy, and the process requires extra power to achieve. Further, this field can be again separated into two categories, in Chu & Kuo’s[1] single degree of freedom self-regulated gravity balancer, there is an in-depth exploration. One is non-energy-free, which uses power component like motors, pneumatic, the gravitational force of payload itself, etc. to change the structure of mechanism to fit the new curve of potential energy; another is energy-free, which uses geometrical property to design the mechanism that the structure of mechanism can be changed without extra power. However, for researches in the field of energy-free, the restriction is that the mechanisms must be locked at a certain position to change the payload and leads to certain inconvenience.
This study bases on Herder’s spring-to-spring[2] method and virtual spring[3] method, proposes a special geometrical mechanism. Through locking and unlocking certain joints at different stages of mechanism movement, the mechanism can change payload at any position in the workspace. This study improves the drawback of changing payload at one certain position and remains the advantage of energy-free feature. Matlab and Adams simulation is carried out and verified.
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