線驅動平台之初始設定與誤差分析

Abstract

本論文主要在探討與發展線驅動平台初始設定之方法與進行線驅動平台之誤差分析。首先，建立平面式線驅動平台初始設定方法的理論基礎。在不使用外加感測器的情況下，將平面式平台初始設定之方法分為使用輔具與不使用輔具兩種方式，發展其初始設定進行的步驟。在使用輔具時，分為使用平移式輔具以及使用旋轉式輔具兩種方法，在不使用輔具時，則以三線連接平台或以四線連接平台兩種方式，利用幾何限制與數學方法對平台進行初始設定。其次，探討線驅動平台的誤差來源，以一實際平台機構為例，提出補償的方法。最後，對於無法補償之誤差，例如線長誤差，則推導分析線長誤差造成平台的位置誤差與姿態誤差，並以一實際平台為例進行數值範例探討，經由分析的結果，提出減小平台於操作過程所產生之誤差的建議。本研究所發展的線驅動平台初始設定方法與誤差分析，雖然只適用於平面式平台，但應該可以進一步應用在空間式平台上，對於線驅動平台之實際使用應有助益。

This research focuses on the initial setup and error analysis of wire-driven platforms（WDP）. Firstly, methods without using external sensors are proposed for the initial setup of planer type WDP, which includes using assisting devices or using special geometric restrictions of WDP, and the procedures of initial setup are also developed. Then, the sources of errors and their effects while in a real operating WDP are discussed and investigated. The compensations are proposed in order to eliminate the errors caused by the apparatus of the platform mechanism. As to the effects of the errors, which cannot be avoided, such as the length error of the wire, to the position and posture of the platform are considered and analyzed. Finally, some practical cases are studied numerically, and the suggestions to reduce the effects of errors are purposed. Although, this study only takes the planar type WDP into consideration, the methods and the analysis developed in this study should be able to extend for the spatial type WDP, and could be useful for the application of WDP.