研究生: |
黃竣鴻 Jyun-Hong Huang |
---|---|
論文名稱: |
三自由度並聯式機器人設計方法之研究 A Study on the Development of 3-DOF Parallel Manipulators |
指導教授: |
蔡高岳
Kao-Yueh Tsai |
口試委員: |
王勵群
Li-Chun Wang 石伊蓓 Yi-Bei Shih |
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: | 2017 |
畢業學年度: | 105 |
語文別: | 中文 |
論文頁數: | 89 |
中文關鍵詞: | 並聯式機器人 、三自由度 |
外文關鍵詞: | Parallel Manipulators, 3-DOF |
相關次數: | 點閱:321 下載:1 |
分享至: |
查詢本校圖書館目錄 查詢臺灣博碩士論文知識加值系統 勘誤回報 |
操控性、工作空間及機械效率為設計工業機器人最常用到之參考指標,而目前已有很多方法可用來搜尋具有最佳操控性、最大工作空間或是最佳機械效率之設計,本文將提出之設計方法將同時考慮到這三個因素。
以正位移分析求得三自由度並聯式機器人工作空間為最有效率之方法,但目前所有之方法皆無法直接決定工作空間之邊界,本文首先利用工作空間邊界曲面之特性提出以正位移分析來快速求得對稱型並聯式機器人工作空間之方法,提出之方法首先用來搜尋多組能夠到達指定工作範圍之設計衡量及比較這些機器人之整體等向性及機械效率以得到具有較佳運動特性之最佳設計,所提出之方法適用於各種不同類型之三自由度並聯式機器人。
Dexterity, workspace and mechanical efficiency are three of the most important criteria in designing industrial manipulators. A manipulator with optimal dexterity, workspace or mechanical efficiency can be developed by many existing methods. This work presents methods that employ all the three criteria to search for manipulators with desired properties.
Direct kinematics is an efficient way to develop the workspace of a 3-DOF parallel manipulator, but the existing methods cannot directly obtain the boundary of the workspace. Using the characteristics of workspace boundaries and direct kinematics, the proposed methods can efficiently determine the boundary of a workspace. The methods are first employed to search for several isotropic designs with a specified workspace. The global isotropy and mechanical efficiency are then evaluated and compared in order to develop the design with better kinematic properties. The methods are applicable to different types of 3-DOF parallel manipulators.
[1] 黃成凱, “並聯式及多餘軸機器人之運動學, 操控性及工作空間之研究,” 2016.
[2] E. F. Fichter, “STEWART PLATFORM-BASED MANIPULATOR: GENERAL THEORY AND PRACTICAL CONSTRUCTION,” International Journal of Robotics Research, vol. 5, no. 2, pp. 157-182, 1986.
[3] C. M. Luh, F. A. Adkins, E. J. Haug, and C. C. Qiu, “Working capability analysis of Stewart platforms,” Journal of Mechanical Design, vol. 118, no. 2, pp. 220-227, Jun, 1996.
[4] M. Z. Huang, and J. L. Thebert, “A study of workspace and singularity characteristics for design of 3-DOF planar parallel robots,” International Journal of Advanced Manufacturing Technology, vol. 51, no. 5-8, pp. 789-797, Nov, 2010.
[5] L.-W. Tsai, G. C. Walsh, and R. E. Stamper, "Kinematics of a novel three DOF translational platform." pp. 3446-3451.
[6] X. Kong, and C. M. Gosselin, “Kinematics and singularity analysis of a novel type of 3-CRR 3-DOF translational parallel manipulator,” The International Journal of Robotics Research, vol. 21, no. 9, pp. 791-798, 2002.
[7] Y. Lu, Y. Shi, and B. Hu, “Kinematic analysis of two novel 3UPU I and 3UPU II PKMs,” Robotics and Autonomous Systems, vol. 56, no. 4, pp. 296-305, 2008.
[8] K. Tsai, T. Lee, and Y. Jang, “A new class of isotropic generators for developing 6-DOF isotropic manipulators,” Robotica, vol. 26, no. 05, pp. 619-625, 2008.
[9] M. V. Kircanski, "Robotic isotropy and optimal robot design of planar manipulators." pp. 1100-1105.
[10] G. Gogu, "Fully-isotropic over-constrained planar parallel manipulators." pp. 3519-3524.
[11] A. Fattah, and A. Hasan Ghasemi, “Isotropic design of spatial parallel manipulators,” The International Journal of Robotics Research, vol. 21, no. 9, pp. 811-824, 2002.
[12] C.-H. Kuo, and J. S. Dai, "A Fully-Isotropic Parallel Orientation Mechanism." pp. 1-7.
[13] L.-W. Tsai, and S. Joshi, “Kinematics and optimization of a spatial 3-UPU parallel manipulator,” Journal of Mechanical Design, vol. 122, no. 4, pp. 439-446, 2000.
[14] X. Wang, L. Baron, and G. Cloutier, "Kinematic modelling and isotropic conditions of a family of translational parallel manipulators." pp. 173-177.
[15] X.-J. Liu, Z.-L. Jin, and F. Gao, “Optimum design of 3-DOF spherical parallel manipulators with respect to the conditioning and stiffness indices,” Mechanism and machine Theory, vol. 35, no. 9, pp. 1257-1267, 2000.
[16] X.-J. Liu, J. Wang, and H.-J. Zheng, “Optimum design of the 5R symmetrical parallel manipulator with a surrounded and good-condition workspace,” Robotics and Autonomous Systems, vol. 54, no. 3, pp. 221-233, 2006.
[17] 余汯育, “機器人操控性曲面及應用,” 2009.
[18] C. M. Gosselin, “Static balancing of spherical 3-DOF parallel mechanisms and manipulators,” The International Journal of Robotics Research, vol. 18, no. 8, pp. 819-829, 1999.
[19] T. Laliberté, C. M. Gosselin, and M. Jean, “Static balancing of 3-DOF planar parallel mechanisms,” IEEE/ASME transactions on mechatronics, vol. 4, no. 4, pp. 363-377, 1999.
[20] V. Parenti-Castelli, R. D. Gregorio, and F. Bubani, “Workspace and Optimal Design of a Pure Translation Parallel Manipulator,” Meccanica, vol. 35, no. 3, pp. 203-214, 2000.
[21] R. Di Gregorio, “Statics and singularity loci of the 3-UPU wrist,” IEEE Transactions on Robotics, vol. 20, no. 4, pp. 630-635, 2004.
[22] J. Gallardo, J. M. Rico, A. Frisoli, D. Checcacci, and M. Bergamasco, “Dynamics of parallel manipulators by means of screw theory,” Mechanism and Machine Theory, vol. 38, no. 11, pp. 1113-1131, 11//, 2003.
[23] 王暄瑜, “三自由度並聯式機器人之操控性分析及比較,” 2014.
[24] S. Staicu, “Recursive modelling in dynamics of Delta parallel robot,” Robotica, vol. 27, no. 02, pp. 199-207, 2009.