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研究生: 邱致程
Zhi-Cheng Qiu
論文名稱: 基於MATLAB、Simulink及HRSS之機械手臂建模及分析
Robot Arm Modeling and Analysis based on MATLAB, Simulink and HRSS
指導教授: 李維楨
Wei-chen Lee
口試委員: 陳羽薰
Yu-Hsun Chen
張鈞凱
Chun-Kai Chang
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: 2022
畢業學年度: 110
語文別: 中文
論文頁數: 122
中文關鍵詞: MATLABSimulink機械手臂扭矩分析
外文關鍵詞: MATLAB, Simulink, Manipulator, Torque Analysis
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  • 目錄 摘要 I Abstract II 誌謝 III 圖目錄 VI 表目錄 IX 符號說明 X 第一章 緒論 1 1.1 研究動機 1 1.2 文獻回顧 2 1.3 研究目的 4 第二章 相關原理介紹 6 2.1 順向運動學 6 2.2 微分運動學 7 2.3 平行軸定理(Parallel Axis Theorem) 8 2.4 歐拉-拉格朗日方程式 11 第三章 使用軟體介紹 16 3.1 HRSS & HRSDK 16 3.2 SolidWorks & SolidWorks to URDF Exporter 17 3.3 MATLAB & Simulink 17 第四章 模擬架構說明 19 4.1 模擬架構介紹 19 4.1.1 HRSDK擷取HRSS參數架構 21 4.1.2 SolidWorks手臂建模匯出URDF 25 4.2 MATLAB整體環境架構介紹 28 4.2.1 URDF模型導入介紹 28 4.2.2 MATLAB環境架構介紹 29 4.2.3 Simulink環境架構介紹 30 第五章 模擬結果與討論 38 5.1 Simulink分析之扭矩值 38 5.1.1 單軸機械手臂扭矩值推導 38 5.1.2 雙軸機械手臂扭矩值推導 44 5.2 以MATLAB建構歐拉-拉格朗日方程式 50 5.2.1 單軸機械手臂之MATLAB程式分析 51 5.2.2 雙軸機械手臂之MATLAB程式分析 52 5.3 六軸機械手臂Simulink分析結果 54 5.3.1 六軸機械手臂取放路徑分析 60 第六章 結論及未來展望 63 6.1 結論 63 6.2 未來展望 64 參考文獻 65 附錄1 MATLAB環境架構子程式 67 附錄2 MATLAB單軸歐拉-拉格朗日方程式 70 附錄3 MATLAB雙軸歐拉-拉格朗日方程式 74 附錄4 MATLAB六軸歐拉-拉格朗日方程式 81

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