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研究生: Aayush Jain
Aayush Jain
論文名稱: 基於模型的具主動控制力/位置順應性終端效果器的開發
Development of Model-Based Active Control Force/Position Compliance End-Effector
指導教授: 林其禹
Chyi-Yeu Lin
口試委員: 李維楨
Wei-chen (George) Lee
劉孟昆
Meng-Kun (Jason) Liu
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: 2021
畢業學年度: 109
語文別: 英文
論文頁數: 101
中文關鍵詞: 氣動致動器接觸力順應性終端效果器基於模型的控制Matlab-Simscape
外文關鍵詞: pneumatic actuator, force compliance, end-effector, model-based control, Matlab-Simscape
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  • 摘要 IV ABSTRACT V ACKNOWLEDGEMENTS VI TABLE OF CONTENTS VII LIST OF FIGURES 1 LIST OF TABLES 4 1. INTRODUCTION 5 1.1. Research Background 5 1.2. The Objective and Scope of the Study 8 1.3. Thesis Structure 9 2. LITERATURE REVIEW 10 2.1. Sources of Robot Errors in Machining 10 2.2. Force/Position Compliance End-Effectors 12 2.3. Commercial Methods of Force Control 18 2.3.1. Through-the-arm Force Control 18 2.3.2. Around-the-arm Force Control 19 2.4. Actuators 20 2.4.1. Hydraulic Linear Actuators 20 2.4.1. Electric Linear Actuators 21 2.4.2. Pneumatic Linear Actuators 22 2.5. Displacement Sensor 26 2.5.1. Contact Type 27 2.5.2. Non-contact Type 28 2.6. Linear Ball Spline Bearing 33 2.7. Pneumatic Force and Position Compliance 37 2.8. Pneumatic Force Control 38 2.8.1. Passive Mechanically Counterbalanced Force Device 38 2.8.2. Passive Air Counterbalanced Force Device 39 2.8.3. Active Force Control Device 40 2.9. Pressure Control 42 3. DESIGN OF THE APPARATUS 44 3.1. Structural Design 44 3.2. Finite Element Analysis 47 4. CONTROL METHODOLOGY 56 4.1. Overall System 56 4.2. The Dynamic Characteristic Equation for Pneumatic Cylinder 58 4.3. Plant Modelling 59 4.3.1. Theoretical Model 59 4.3.2. Experimental Model 61 4.4. MATLAB Simulation 65 4.5. Control Schematics 71 5. RESULT AND DISCUSSION 74 5.1. Experimental Set-up 74 5.2. Experiments for Ideal Conditions 76 5.3. Experiments for Uneven Surface 81 5.4. Performance Comparison Results 85 6. CONCLUSION AND FUTURE WORK 89 REFERENCES 91

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