研究生: |
洪培樵 Pei-Chiao Hung |
---|---|
論文名稱: |
以最少的拘束方程式決定一般六自由度並聯式機器人之工作空間 Determining the Workspace of General 6-DOF Parallel Manipulators Using the Least Number Constraint Equations |
指導教授: |
蔡高岳
Kao-Yueh Tsai |
口試委員: |
劉霆
Tyng Liu 王勵群 Li-Chun T. Wang |
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: | 2005 |
畢業學年度: | 93 |
語文別: | 中文 |
論文頁數: | 93 |
中文關鍵詞: | 極點 、分支點 、可到達工作空間 |
外文關鍵詞: | extreme point, bifurcation point, reachable workspace |
相關次數: | 點閱:287 下載:4 |
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6-DOF並聯式機器人的工作空間是為兩個自由度的曲面,此曲面是由許多的小曲面組合而成,而這些小曲面理論上可藉由考慮球窩接頭旋轉角度限制或考慮軸位移伸縮限制的四個拘束方程式而得。找到正確的拘束方程式組合則可以更有效率地得到工作空間的邊界,本篇論文提出數種可以找出發展工作空間邊界方程式的演算法。並首次以搜尋技巧來獲得一些較小邊界的子集合,之後可藉由紀錄這些子集合的相關資料來預測其他角度的邊界。
The boundary of the workspace of 6-DOF parallel manipulators is a two-dimensional surface which consists of many patches, and each patch, in theory, can be obtained by solving only four constraint equations developed from limited joint ranges or link interactions. The workspace boundary can be efficiently developed if we can find the correct combination of constraint equations for each patch. This paper proposes algorithms to find the equations to develop the workspace boundary. Some small subsets of the boundary are first developed using a searching technique. The related data of these subsets are then used to predict the equations for developing the rest of the boundary.
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