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完整後設資料紀錄
DC 欄位 | 值 | 語言 |
---|---|---|
dc.contributor.advisor | 黃光裕 | |
dc.contributor.author | Chun-Nan Wu | en |
dc.contributor.author | 吳俊男 | zh_TW |
dc.date.accessioned | 2021-06-13T05:44:04Z | - |
dc.date.available | 2007-06-08 | |
dc.date.copyright | 2006-07-21 | |
dc.date.issued | 2006 | |
dc.date.submitted | 2006-07-14 | |
dc.identifier.citation | [1] Kahlen, K.,Voss, I., Priebe, C., and De Doncker, R.W., “Torque control of a spherical machine with variable pole pitch,” IEEE Transaction on Power Electronics, Vol.19, No. 6, November 2004, pp. 1628-1634.
[2] Amano, T., Ishii, T., Nakamura, K., and Ueha, S., “An ultrasonic actuator with multidegree of freedom using bending and longitudinal vibrations of a single stator,” 1998 IEEE Ultrasonics Symposium, Vol. 1, October 1998, pp. 667-670. [3] Friend, J., Nakamura, K., and Ueha, S., “A piezoelectric micromotor using in-plane shearing of PZT elements,” IEEE/ASME Transactions on Mechatronics, Vol. 9, No. 3, September 2004, pp.467-473. [4] Takemura, K., Ohno, Y., and Maeno, T., “Design of a plate type multi-DOF ultrasonic motor and its self-oscillation driving circuit,” IEEE/ASME Transactions on Mechatronics, Vol. 9, No. 3, September 2004, pp. 474-480. [5] Otokawa, K. and Maeno, T., “Development of an arrayed-type multi-degree-of-freedom ultrasonic motor based on a selection of reciprocating vibration modes,” 2004 IEEE Ultrasonics Symposium, Vol, 2, August 2004, pp. 1181-1184. [6] Shimoda, S., Ueyama, M., Matsuda, S., Matsuo, T., Sasaki, K., and Itao, K., “Design of 2-DOF pyramid type ultrasonic motor,” 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems, Vol. 4, 2001, pp. 1971-1976. [7] 周卓明 編著,“基本壓電力學”,全華科技圖書股份有限公司,2003。 [8] NanoPositioning, Physik Instrumente catalogue, 1998. [9] 周欣怡 , “整合原子力顯微鏡式和光學式微小形變量測系統之設計開發與性能測試分析”,國立台灣大學機械工程學研究所碩士論文,2006。 [10] Aurelle, N., R,oche, D., Richard, C., and Gonnard, P., “Sample aspect ratio influence on the shear coefficients measurements of a piezoelectric bar,” 1994 IEEE international Symposium on Application of Ferroelectric, August 1994, pp. 162-165. [11] Bergander, A., Breguet, J.-M.; Schmitt, C., and Clavel, R., “Micropositioners for microscopy applications based on the stick-slip effect,” 2000 IEEE International Symposium on Micromechatronics and Human Science, October 2000, pp. 213-216. [12] Idogaki, T., Kanayama, H., Ohya, N., Suzuki, H.; and Hattori, T., “Characteristics of piezoelectric locomotive mechanism for an in-pipe micro inspection machine,” 1995 IEEE Sixth International Symposium on Micro Machine and Human Science, October 1995, pp. 193-198. [13] Morita, T., Yoshida, R., Okamoto, Y., Kurosawa, M.K., and Higuchi, T., “A smooth impact rotation motor using a multi-layered torsional piezoelectric actuator,” IEEE Transactions on Ultrasonics, Ferroelectrics and Frequency Control, Vol. 46, No. 6, November 1999, pp.1439-1445. [14] Johnson K.L. “Contact Mechanics,” University of Cambridge, 1985. [15] 傅增棣 編著,虛擬原型工作小組 編著,“電腦輔助工程設計-ADAMS基礎應用手冊”,高立圖書股份有限公司,2004。 | |
dc.identifier.uri | http://tdr.lib.ntu.edu.tw/jspui/handle/123456789/33637 | - |
dc.description.abstract | 本論文設計開發一種新形態的多軸球型致動器,其可以達到多軸向轉動與精密轉角控制的功能。三個壓電致動元件利用摩擦力驅動鋼球,每一個致動元件主要是由一片耐磨陶瓷接觸片與兩片極化方向互呈水平垂直放置的d15剪力壓電平板所組成,分別放置在角型底座的三個面上,利用永久磁石與鋼球之間的磁吸力,使致動元件與球型運動子保持穩定的接觸狀態。非對稱鋸齒波訊號驅動壓電元件使球型運動子產生慣性致動。在致動過程中以機器視覺量測法同步監測附著於球型運動子上的反光標記位置,藉由量測結果計算出球型運動子的角速度與角位移。 | zh_TW |
dc.description.abstract | The paper presents a novel design of a Multi-DOF ball-type Actuator (MDBA), which is developed for achieving multi-axial rotation and precision rotating angle control. Three piezoelectric actuating units are applied to drive frictionally a ferromagnetic steel ball, and each actuating unit is composed of a wear-resistant ceramic contact plate and two d15-type piezoelectric shear plates, whose polarized directions are perpendicular to each other. The three actuating units are installed on three corner surfaces of a steel base respectively. To produce sufficient contact force between the actuating unit and the ball, the permanent magnet is used to supply the magnetic preload on the ball. The piezoelectric shear plate is driven by the unsymmetrical saw-toothed signal to realize inertial actuation. The actuating process is monitored by detecting visually the position of a reflective mark attached on the actuated ball, and from the captured images the speed and the angular displacement of the ball can be derived. Diverse control combinations of the actuating units can be applied to vary the rotating direction of the ball. Furthermore, the number of driving pulses and the driving frequency are the main operational parameters for precise controlling the rotational angle and the speed. | en |
dc.description.provenance | Made available in DSpace on 2021-06-13T05:44:04Z (GMT). No. of bitstreams: 1 ntu-95-R93522607-1.pdf: 4050788 bytes, checksum: caef8db3401faa8f0f2f52b090306e5d (MD5) Previous issue date: 2006 | en |
dc.description.tableofcontents | 目錄
誌謝..........................................................Ⅰ 中文摘要......................................................Ⅱ 英文摘要.....................................................Ⅲ 目錄...................................................Ⅳ 圖目錄.........................................................Ⅶ 符號表...................................................Ⅹ 第一章 緒論 1.1 研究背景與動機.........................................1 1.2 文獻回顧................................................3 1.3 研究目的...............................................11 1.4 內容簡介...............................................12 第二章 壓電材料致動原理與特性 2.1壓電原理.............................................13 2.2 壓電材料的非線性現象...................................15 2.3 剪力式壓電材料特性.....................................19 第三章 球型致動器之概念設計構想與系統架構 3.1 概念設計構想...........................................23 3.2 球型致動器架構.........................................27 3.3實驗系統架構.........................................29 第四章 致動理論分析與模擬 4.1滾動阻力.............................................38 4.2 剪力式致動元件之致動性能分析...........................42 4.2.1 靜摩擦致動模式...................................43 4.2.2 動摩擦致動模式...................................44 4.3 雙剪力致動元件之致動性能分析...........................46 4.3.1 靜摩擦致動模式....................................46 4.3.2 動摩擦致動模式....................................47 4.4 致動器之運動模擬分析探討..............................49 4.4.1 模型架構........................................49 4.4.2 單週期驅動之暫態現象.............................52 4.4.3 連續驅動之致動性能................................57 4.5 磁預力分析............................................58 第五章 致動器性能之實驗測試 5.1 磁預力之影響測試.......................................62 5.2 驅動偏電壓對致動器性能之影響...........................65 5.3 驅動頻率與電壓影響量測與探討...........................67 5.4 轉動方向對角速度之影響.................................74 5.5 扭力量測...............................................75 第六章 多軸球型致動器設計與運動控制 6.1多軸球型致動器設計架構.................................79 6.2 致動性能分析與運動控制.................................81 第七章 總結與未來展望..........................................86 參考文獻.......................................................89 附錄A壓電材料EBL#3規格與特性..............................91 附錄B CCD攝影機規格表.......................................95 附錄C 影像擷取卡PCI-1407規格表..............................96 附錄D任意波形產生器PXI-5102規格表..........................98 附錄E拉力感測器規格與特性...................................99 附錄F拉力感測器訊號放大器.................................100 附錄G 釹鐵硼(NdFeB)磁石之磁性能與其消磁曲線...................102 附錄 H 工程圖...................................................104 | |
dc.language.iso | zh-TW | |
dc.title | 剪力式壓電驅動多軸球型致動器之設計開發與性能分析 | zh_TW |
dc.title | Design and Development of Piezoelectric Shear-driving Multi-DOF Ball-type Actuator and Performance Analysis | en |
dc.type | Thesis | |
dc.date.schoolyear | 94-2 | |
dc.description.degree | 碩士 | |
dc.contributor.oralexamcommittee | 蔡得民,劉正良 | |
dc.subject.keyword | 球型致動器,多軸向轉動,壓電元件,剪應變,摩擦,慣性作動原理,合成致動, | zh_TW |
dc.subject.keyword | Ball-type actuator,Multi-axial rotation,Piezoelectric element,Shear strain,Friction,Inertial driving principle,Synthetic actuation, | en |
dc.relation.page | 106 | |
dc.rights.note | 有償授權 | |
dc.date.accepted | 2006-07-17 | |
dc.contributor.author-college | 工學院 | zh_TW |
dc.contributor.author-dept | 機械工程學研究所 | zh_TW |
顯示於系所單位: | 機械工程學系 |
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