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http://tdr.lib.ntu.edu.tw/jspui/handle/123456789/55743Full metadata record
| ???org.dspace.app.webui.jsptag.ItemTag.dcfield??? | Value | Language |
|---|---|---|
| dc.contributor.advisor | 李志中(Jyh-Jone Lee) | |
| dc.contributor.author | Wei-Ling Tsai | en |
| dc.contributor.author | 蔡維玲 | zh_TW |
| dc.date.accessioned | 2021-06-16T05:07:56Z | - |
| dc.date.available | 2016-09-05 | |
| dc.date.copyright | 2014-09-05 | |
| dc.date.issued | 2014 | |
| dc.date.submitted | 2014-08-19 | |
| dc.identifier.citation | [1] L. W. Tsai, Robot Analysis- The Mechanics of Serial and Parallel Manipulators, New York: JOHN WILEY & SONS, INC., 1999.
[2] D. Stewart, 'A platform with 6 degrees of freedom,' Proceedings of the Institution of Mechanical Engineers, vol. 180, no. 1, pp. 371-386, 1965. [3] M.A. Laribi, L. Romdhane, S. Zeghloul, 'Analysis and dimensional synthesis of the DELTA robot for a prescribed workspcace,' Mechanism and Machine Theory, vol. 42, pp. 859-870, 2007. [4] Z. Affi, L. Romdhane, A. Maalej, 'Dimensional synthesis of a 3-translational-DOF in-parallel manipulator for a desired workspace,' European Journal of Mechanics A/Solids, vol. 23, pp. 311-324, 2004. [5] P. Vischer, R. Clavel, 'Kinematic calibration of the parallel Delta robot,' Robotica, vol. 16, pp. 207-218, 1998. [6] R. Boudreau, C.M. Gosselin, 'The synthesis of planar parallel manipulators with a genetic algorithm,' ASME Journal of Mechanical Design, vol. 121, pp. 533-537, 1999. [7] A. Kosinska, M. Galicki, K. Kedzior, 'Design and optimization of parameters of Delta-4 parallel manipulator for a given workspace,' Journal of Robotic System, vol. 20, no. 9, pp. 539-548, 2003. [8] C. Dayer, 'Etude dynamique du robot Delta-3,' project de 7e semestre a HMT, EPFL, 1998. [9] J. Fischer, 'DELTA-4 dynamique,' project de diplome a HMT, EPFL, 1988. [10] K. Miller, R. Clavel, 'The Lagrange-based model of Delta-4 robot dynamics,' Roboter systeme, vol. 8, pp. 49-54, 1992. [11] 牧野洋，譯者 賴耿陽, 自動機械機構學, 台南: 復漢出版社, 民國68年. [12] L. Biagiotti, C. Melchiorri, Trajectory Planning for Automatic Machines and Robots, Berlin, Heidelberg: Springer Berlin Heidelberg, 2009. [13] 周銘城, “質子交換膜燃料電池控制及整合,” 碩士論文, 台灣大學, 台北市, 2009. [14] 趙清風, 使用MATLAB 控制之系統識別, 台北市: 全華科技圖書股份有限公司, 2001. [15] Van Overschee, P. and B. De Moor, 'Subspace Algorithms for the Stochastic Identification Problem,' 30th IEEE Conference on Decision and Control, pp. 1321-1326, 1991. [16] Van Overshcee, P. and B. De Moor, 'N4SID Subspace Algorithms for the Identification of Combined Deterministic-Stochastic System,' Automatica, vol. 30, no. 1, pp. 75-93, 1994. | |
| dc.identifier.uri | http://tdr.lib.ntu.edu.tw/jspui/handle/123456789/55743 | - |
| dc.description.abstract | Delta機器人為一種由基座、數條運動鍊及移動平台組成的並聯機械手，在工業應用上已廣泛應用，尤其廣泛應用於需要高精度和高速的取放功能。
本論文首先研究了Delta機器人的運動規劃與系統識別。介紹多種Delta機器人端效器的路徑，並使用單自由度系統說明使用不同運動軌跡時系統呈現出的振動現象。接著，將不同軌跡實際應用於Delta機器人，藉以修正和比較各種運動規劃所造成的餘振。本文的第二部分識別馬達響應的動態特性，推導出馬達響應的轉移函數並對實際系統進行實驗。 | zh_TW |
| dc.description.abstract | Delta robot is a kind of parallel manipulator composed with a fixed base, number of kinematic chains and a moving platform. Delta robot has been widely used in industrial applications, particularly used in high-precision and high-speed pick and place motion.
This thesis first studies the trajectory planning and system identification of Delta robot. Various paths for the motion of the moving platform of Delta robot are introduced. A one-DOF system is used to illustrate the vibration when different motion trajectories of the system are implemented. Subsequently, these trajectories are then implemented on the motion of Delta robot. The residual vibrations caused of various motion planning are recovered and compared. In the second part of the thesis, the dynamic characteristics of the motor responses are identified. The transfer functions of the motor responses are then derived and experiments for real systems are conducted. | en |
| dc.description.provenance | Made available in DSpace on 2021-06-16T05:07:56Z (GMT). No. of bitstreams: 1 ntu-103-R01522635-1.pdf: 4276445 bytes, checksum: ef290b07a39f8ffdb73d14eba6053bf9 (MD5) Previous issue date: 2014 | en |
| dc.description.tableofcontents | 摘要 I
Abstract III 目錄 V 圖目錄 IX 表目錄 XIII 第一章 緒論 1 1.1 研究背景與動機 1 1.2 文獻回顧 2 1.3 各章摘要 4 第二章 Delta機器人運動學與動力學分析 5 2.1 運動學分析 5 2.1.1 參數定義 5 2.1.2 位置分析 8 2.1.3 速度、加速度分析 12 2.1.4 奇異點分析 13 2.2 動力學分析 14 2.2.1 拉格朗日方程式 15 2.2.2 Delta機器人簡圖與參數定義 16 2.2.3 桿件位置與速度 17 2.2.4 拉格朗日方程式推導流程 19 2.3 小結 24 第三章 端效器之運動規劃 25 3.1 運動曲線 25 3.1.1. 3-4-5多項式曲線(3-4-5 Power Polynomial) 26 3.1.2. 擺線(Cycloidal) 27 3.1.3. Gutman F-3曲線 (Gutman F-3) 27 3.1.4. Gutman F-5曲線(Gutman F-5) 28 3.1.5. 修正梯形曲線(Modified trapezoid) 29 3.1.6. 修正正弦曲線(Modified Sine) 31 3.1.7. 修正等速度曲線(Modified constant velocity) 33 3.1.8. 神保指數曲線(Jimo Exponential) 36 3.1.9. 非對稱多項式六次曲線(Unsymmetrical polynomial) 37 3.1.10. 非對稱擺線(Unsymmetrical Cycloidal) 37 3.1.11. 非對稱修正梯形(3/2) (Ferguson IV) 39 3.1.12. 梯擺線(Makino trapezoid) 42 3.2 單自由度系統模擬 44 3.2.1. 擺線曲線模擬 46 3.2.2. 修正正弦曲線模擬 46 3.2.3. 修正梯形曲線模擬 47 3.2.4. 3-4-5多項式曲線模擬 48 3.2.5. 修正等速度曲線模擬 48 3.2.6. 等加速度曲線模擬 49 3.2.7. 非對稱修正梯形(3/2)模擬 50 3.2.8. 梯擺線模擬 50 3.2.9. 單自由度系統模擬小結 51 3.3 快速傅立葉轉換(FFT)之應用 51 3.3.1. 擺線曲線 52 3.3.2. 修正正弦曲線 53 3.3.3. 修正梯形曲線 54 3.3.4. 3-4-5多項式曲線 54 3.3.5. 修正等速曲線 55 3.3.6. 等加速度曲線 55 3.3.7. 快速傅利葉分析小結 56 3.4 運動規劃小結 56 3.5 模擬 60 3.6 實驗 67 3.6.1. 實驗儀器 67 3.6.2. 加速度量測結果 68 3.6.3. 馬達實際角度量測結果 70 第四章 系統識別與實驗 77 4.1 系統識別原理 77 4.2 部分空間系統識別法 79 4.3 實驗儀器 82 4.4 系統識別實驗規劃 82 4.5 系統識別實驗結果 84 4.5.1 系統識別馬達性質 86 4.5.2 馬達角度量測結果與小結 88 第五章 結論與未來展望 91 參考資料 93 | |
| dc.language.iso | zh-TW | |
| dc.subject | Delta機器人 | zh_TW |
| dc.subject | 運動規劃 | zh_TW |
| dc.subject | 動力學分析 | zh_TW |
| dc.subject | 運動學分析 | zh_TW |
| dc.subject | 系統識別 | zh_TW |
| dc.subject | Delta robot | en |
| dc.subject | kinematic analysis | en |
| dc.subject | dynamic analysis | en |
| dc.subject | motion planning | en |
| dc.subject | system identification | en |
| dc.title | Delta機器人之運動規劃與系統識別 | zh_TW |
| dc.title | Motion Planning and System Identification of Delta Robot | en |
| dc.type | Thesis | |
| dc.date.schoolyear | 102-2 | |
| dc.description.degree | 碩士 | |
| dc.contributor.oralexamcommittee | 王富正(Fu-Cheng Wang),吳宗亮 | |
| dc.subject.keyword | Delta機器人,運動學分析,動力學分析,運動規劃,系統識別, | zh_TW |
| dc.subject.keyword | Delta robot,kinematic analysis,dynamic analysis,motion planning,system identification, | en |
| dc.relation.page | 94 | |
| dc.rights.note | 有償授權 | |
| dc.date.accepted | 2014-08-20 | |
| dc.contributor.author-college | 工學院 | zh_TW |
| dc.contributor.author-dept | 機械工程學研究所 | zh_TW |
| Appears in Collections: | 機械工程學系 | |
Files in This Item:
| File | Size | Format | |
|---|---|---|---|
| ntu-103-1.pdf Restricted Access | 4.18 MB | Adobe PDF |
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