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研究生： Tesfaye Wakessa Gussu
Tesfaye - Wakessa Gussu
論文名稱： Development of Key Transmission Mechanisms for Autonomous Flyer Distribution
Development of Key Transmission Mechanisms for Autonomous Flyer Distribution
指導教授： 林其禹
Chyi-Yeu Lin
口試委員: 李維楨
Wei-Chen Lee
郭進星
Chin-Hsing Kuo
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： 2014
畢業學年度： 102
語文別： 英文
論文頁數： 89
中文關鍵詞： 全自主機器人 、傳單發送 、面紙包發送 、傳單機器人
外文關鍵詞： Autonomous robot, Flyer distribution, Tissue pack distribution, Flyer distributor robot
相關次數： 點閱：239  下載：4 
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  •  上一筆

    • 本論文揭露了一個以傳單發送操作為目的且包含不同精密機構的自主與穩健的機器人系統。這個機器人由自主的傳單/面紙包容納與傳送機構；傳單與面紙包一次一片的抓取系統和搬運傳單/面紙包至機器人手掌的手臂狀結構。這種傳單/面紙包容納的機構設計不僅具有3000張的容量，而且對於未來自動傳單重新裝填過程也能相容。本研究使用了七個致動器來滿足傳單/面紙包的進給程序。在這種進給程序當中，一旦傳單/面紙包從機器人手掌上面被取走，下一片/包傳單/面紙包便會被依照各個致動器與感測器從屬反應的連續複合控制動作自動送出準備好。這個研究提出了一種有效率完成以自主機器人取代人類傳單發送員的機構方案。

    This thesis discloses an autonomous and robust robotic structure comprising of different intricate mechanisms for its flyer-delivering operation. The main body of the flier-distribution robot consists of three parts: an autonomous flyer/tissue pack containing and conveying mechanisms, a flyer and tissue pack pickup system for picking up a single sheet at a time and an arm-like structure for hauling the flyer/tissue pack to the robot palm. The flyer/tissue pack containing mechanism is designed to have the capacity for 3000 sheets of flyers, and to be also compatible for the flyer reloading mechanism in plan. In this research, a total of seven actuators are used to satisfy the flyer/tissue pack feeding process. Once the flyer/tissue pack is taken from the robot palm by human, the next flyer will be made ready automatically by the combined actions of pertaining actuator-sensor interactions. This research proposes an efficient mechanism to accomplish the purpose that substituting human flyer distributors with autonomous robots.

    Abstract………………………………………………………………………............................i 中文摘要…………………………………………………………………………...………..…ii Acknowledgment……………………………………………………………...........................iii List of Figures …………………………………………………………………...................…vi List of Tables………………………………………………………………….…….................ix Chapter 1 Introduction, motivation and background of the study1 1.1Introduction1 1.2Brief Description of Flyer Distributor Robot2 1.3Motivation and purpose of the research3 1.4Background of the Study3 1.5Roadmap of the Thesis5 Chapter 2 Design Specifications of Flyer Distributor Robot6 2.1Problem Identification and Need6 2.2Product design specifications (PDS) for Flyer Distributor Robot6 2.2.1Performance Specification of Flyer Distributor Robot6 2.2.2Performance Summary Of Flyer Distributor Robot7 2.3Flyer delivering capacity specifications8 2.4Flyer Size Specification8 2.5Flyer Distributor Robot Dimensional Specifications9 2.6Determination of Optimal Working Height of People9 2.6.1Determination of Basic Reach for Flyer Distributor Robot9 2.6.2Determination of overall dimensions of Flyer Distributor Robot from seated human pose11 2.6.3Development of 3D model of Flyer Distributor Robot13 Chapter 3 Concept Generation, Evaluation, Ranking and Selection of Key Transmission Mechanisms14 3.1Generated mechanisms for support structure of Flyer Distributor Robot14 3.1.1Description of generated concepts of the support structure14 3.1.2Evaluation of generated concepts of support structure15 3.2Flyer Distributor Robot Modules16 3.2.1The base (support structure) module16 3.2.2The flyer cassette module and its associated mechanisms17 3.2.3Description of generated concepts of flyer cassette module18 3.2.4Matrix Evaluation for the generated concepts of flyer cassette module22 3.3Flyer feed roller module and its associated mechanisms23 3.3.1Description of the generated concepts of flyer feed roller mechanisms23 3.3.2Matrix evaluation of generated concepts of flyer feed rollers24 3.4Tissue pack transmission module26 3.5Flyer receiver and holder module28 3.5.1Description of the generated tissue pack transmission mechanisms29 3.5.2Evaluation of the generated tissue pack transmission mechanisms30 3.6Flyer/tissue pack holder transmission module30 3.6.1Description of the generated flyer/tissue holder transmission mechanisms31 3.6.2Matrix evaluation of flyer/tissue pack holder transmission mechanisms32 Chapter 4 Design of key mechanical parts of Transmission Mechanisms33 4.1Design of movable tray base driving system33 4.1.1Design of ball screw33 4.1.2Determination of preload, average rpm, and average operating load35 4.2Design and selection of timing belt and timing pulleys for ball screws38 4.2.1Determination of design power of timing belts39 4.2.2Determination of number of teeth on driven and driving pulley39 4.2.3Determination of approximate circumferential length of timing belt40 4.2.4Determination of angle of contact for timing belt and driving pulley40 4.3Design and selection of timing belt and timing pulleys in flyer feed roller module41 4.3.1Dimensional specifications of the timing belt in flyer feed roller module41 4.3.2Design conditions for timing belt used in flyer feed roller module42 4.3.3Design power for timing belt drive motor in flyer feed roller43 4.3.4Determination of number of teeth on pulleys in flyer feed roller module43 4.3.5Determination of angle of contact of timing belt and driving pulley in flyer feed roller module43 4.4Design and selection of transmission belt in tissue pack module44 4.4.1Determination of effective tension Te and design tension Td in tissue pack transmission module45 4.4.2Selection of belt type, belt length and number of teeth45 4.4.3 Design and selection of timing belt for flyer/tissue pack holder module46 4.4.4Determination of effective tension Te and design tension Td47 4.4.5Determination of actual length, number of teeth and center distance of the timing belt in flyer/tissue pack holder transmission module48 4.5Design of compression spring48 Chapter 5 Design of Actuators and Sensors of Key Transmission Mechanisms50 5.1Determination of stepping motor driving torque and driving power50 5.2Design and selection of linear actuators used in key transmission mechanisms53 5.3Design and selection of DC geared motor for Flyer feed roller module54 5.4Design and selection of transmission belt and gripper driver in tissue pack transmission module55 5.4.1Design of transmission belt driver used in tissue pack transmission module55 5.4.2 Design and selection of tissue pack gripper motor56 5.4.3 Determination of gripper motor speed56 5.4.4Selection of gears used in gripper module57 5.5Selection of electromagnetic sensor and limit switches IR proximity sensors58 5.5.1Selection of electromagnetic sensor58 5.5.2Limit switches59 5.5.3General purpose IR proximity sensors59 Chapter 6 Prototype development and performance analysis of key transmission mechanisms60 6.1Prototype development of key transmission mechanisms60 6.2performance analysis of the key transmission mechanisms62 Chapter 7 Conclusion and Future Works65 7.1Conclusion65 7.2Future Works66 Appendix A: Catalogue of timing belt selection procedure69 Appendix B: Catalogue of conveyor belt selection procedure70 Appendix C: Firegelli L12 actuator specification data sheet72 Appendix D: Shayang Ye IG-32GM DC geared motor catalogue73 Appendix E: Shayang Ye IG-32RGM DC geared motor catalogue74 Appendix F: Shayang Ye IG-12GM DC geared motor catalogue75 Appendix G: Electromagnet specifications76 Appendix H: Limit switches specifications76 Appendix I: General purpose IR Proximity Sensor77

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