研究生: |
陳俊宏 Jyun-Hong Chen |
---|---|
論文名稱: |
三鏈六自由度並聯式機器人方位工作空間之研究 A Study on the Orientation Workspace of 3-chain 6-DOF Parallel Manipulators |
指導教授: |
蔡高岳
Kao-Yueh Tsai |
口試委員: |
王勵群
Li-Chun T.Wang 鐘文遠 Wen-Yeuan Chung |
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: | 2009 |
畢業學年度: | 97 |
語文別: | 中文 |
論文頁數: | 81 |
中文關鍵詞: | 方位工作空間 、三鏈六自由度並聯式機器人 |
外文關鍵詞: | 3-PRPS |
相關次數: | 點閱:199 下載:2 |
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一六鏈六自由度並聯式機器人有非常好的剛性,但是其工作空間比起串聯式機器人要小的許多。一六鏈六自由度並聯式機器人的工作空間則是由六個串聯機器人所共同交集而成,若減少並聯式機器人之運動鏈並使用兩個或多個驅動軸將會得到較大之工作空間。本文將研究三鏈六自由度並聯式機器人並利用數種演算法去導出3-PRPS和3-PPSR並聯式機器人方位工作空間之邊界。而其邊界曲面則是利用驅動軸與被動接頭之運動拘束所構成之一二次多項式去求解,並可利用此邊界區域的體積去衡量此平台之旋轉性;最後提供一些數值範例。
A 6-chain 6-DOF parallel manipulator has very good rigidity, but its workspace is much smaller than that of a serial manipulator. The workspace of a 6-chain parallel manipulator can be approximated by the intersection of the workspaces of six serial manipulators, so a larger workspace can be expected for parallel manipulators with fewer kinematic chains that are driven by two or more actuators. This thesis studies the orientation workspace of 3-chain 6-DOF parallel manipulators. Several algorithms are presented to develop the boundaries of the orientation workspace of 3-PRPS or 3-PPSR parallel manipulators. The boundary surface can be obtained by solving quadratics developed from related kinematic constraints of actuated or passive joints, and the rotatability of the platform can be evaluated by the volume of the region within the boundary surfaces. Some numerical examples are presented for illustration.
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