Delta機器人之運動規劃與系統識別

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。

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.