研究生: |
黃翰祥 Han-Hsiang Huang |
---|---|
論文名稱: |
一類史都華平台之設計與實現 Design and Implementation of a Class of Stewart Platforms |
指導教授: |
徐勝均
Sendren Sheng-Dong Xu |
口試委員: |
石大明
Ta-Ming Shih 蔡明忠 Ming-Jong Tsai |
學位類別: |
碩士 Master |
系所名稱: |
工程學院 - 自動化及控制研究所 Graduate Institute of Automation and Control |
論文出版年: | 2017 |
畢業學年度: | 105 |
語文別: | 中文 |
論文頁數: | 84 |
中文關鍵詞: | 電腦輔助設計 、史都華平台 |
外文關鍵詞: | Computer-aided design (CAD), Stewart platform |
相關次數: | 點閱:758 下載:0 |
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本研究設計與實現一類史都華平台,希望藉由此改良後的機械結構與裝配方式,減少其製造難度,並利於其延伸的應用。首先,使用電腦輔助設計完成模型的建置;其次,進行相關機件的運動分析;然後,藉由快速成型技術完成原型的建置。
目前廣泛使用之三軸穩定器等雲台,雖可即時提供旋轉角度的補償,但無法做平移方向的補償。本研究利用史都華平台的並聯式機構特性,產生六個自由度之運動,將可以彌補大多數三軸穩定器無法做平移補償的機構特性。
In this research, a class of Stewart platforms is designed and implemented. By the improved mechanical structures and assembly methods, the difficulties in the manufacturing of Stewart platforms can be alleviated and the applications can thus be easily extended. First, Computer-Aided Design (CAD) is applied to completing the model building. Second, the kinematics of related parts is analyzed. Finally, the prototype is established by the rapid prototyping.
Presently, the widely used three-axis stabilizer can real-time compensate the offset angle; however, its compensation cannot be carried out in parallel directions. In this research, the mechanical characteristic of a type of parallel robot is adopted to create 6-DOF motion so that the above stated disadvantage can be conquered.
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