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完整後設資料紀錄
DC 欄位 | 值 | 語言 |
---|---|---|
dc.contributor.advisor | 顏炳郎(Ping-Lang Yen) | |
dc.contributor.author | Huan-Yu Hsieh | en |
dc.contributor.author | 謝環宇 | zh_TW |
dc.date.accessioned | 2021-06-16T05:16:43Z | - |
dc.date.available | 2019-08-25 | |
dc.date.copyright | 2014-08-25 | |
dc.date.issued | 2014 | |
dc.date.submitted | 2014-08-18 | |
dc.identifier.citation | 1.Albus, J., R. Bostelman, and N. Dagalakis. 1992. The Nist Spider, a Robot Crane. Journal of research of the National Institute of Standards and Technology 97(3):373-385.
2.Bulanon, D., and T. Kataoka. 2010. Fruit Detection System and an End Effector for Robotic Harvesting of Fuji Apples. Agricultural Engineering International: CIGR Journal 12(1). 3.De-An, Z., L. Jidong, J. Wei, Z. Ying, and C. Yu. 2011. Design and Control of an Apple Harvesting Robot. Biosystems Engineering 110(2):112-122. 4.Firbank, T. C. 1970. Mechanics of the Belt Drive. International Journal of Mechanical Sciences 12(12):1053-1063. 5.Hayashi, S., K. Shigematsu, S. Yamamoto, K. Kobayashi, Y. Kohno, J. Kamata, and M. Kurita. 2010. Evaluation of a Strawberry-Harvesting Robot in a Field Test. Biosystems Engineering 105(2):160-171. 6.Kim, S.-C., G.-S. Han, S.-C. Jung, L. T. Hai, and H. Hwang. 2008. Development of Robotic Harvest System for Bench-Type Strawberry Cultivation. Proceedings of ISMAB2008. 7.Lee, J. J., and Y. H. Lee. 2003. Dynamic Analysis of Tendon Driven Robotic Mechanisms. Journal of Robotic Systems 20(5):229-238. 8.Lens, T., J. Kunz, O. v. Stryk, C. Trommer, and A. Karguth. 2010. Biorob-Arm: A Quickly Deployable and Intrinsically Safe, Light-Weight Robot Arm for Service Robotics Applications. In Robotics (ISR), 2010 41st International Symposium on and 2010 6th German Conference on Robotics (ROBOTIK) VDE. 9.Li, Z., J. Liu, P. Li, and W. Li. 2008. Analysis of Workspace and Kinematics for a Tomato Harvesting Robot. In International Studies in PhilosophyIntelligent Computation Technology and Automation (ICICTA), 2008 International Conference on IEEE. 10.Mason, M. T., and J. K. Salisbury Jr. 1985. Robot Hands and the Mechanics of Manipulation. 11.Monta, M., N. Kondo, and Y. Shibano. 1995. Agricultural Robot in Grape Production System. In Robotics and Automation, 1995. Proceedings., 1995 IEEE International Conference on IEEE. 12.Morecki, A., Z. Busko, H. Gasztold, and K. Jaworek. 1980. Synthesis and Control of the Anthropomorphic Two-Handed Manipulator. In Proceedings of the 10th International Symposium on Industrial Robots. 13.Nazma, E., and S. Mohd. 2012. Tendon Driven Robotic Hands: A Review. IJMRR 1. 14.Okada, T., and S. Tsuchiya. 1977. On a Versatile Finger System. In Proc. of the 7th Int. Symp. of Industrial Robots. 15.Prisco, G., and M. Bergamasco. 1997. Dynamic Modelling of a Class of Tendon Driven Manipulators. In Advanced Robotics, 1997. ICAR'97. Proceedings., 8th International Conference on IEEE. 16.Rovetta, A. 1977. On Specific Problems of Design of Multipurpose Mechanical Hands in Industrial Robots. Proc. 7th ISIR, Tokyo. 17.Rovetta, A. 1981. On Functionality of a New Mechanical Hand. Journal of Mechanical Design 103:277. 18.Salisbury, K., W. Townsend, B. Ebrman, and D. DiPietro. 1988. Preliminary Design of a Whole-Arm Manipulation System (Wams). In Robotics and Automation, 1988. Proceedings., 1988 IEEE International Conference on IEEE. 19.Salomon, D. 2007. Curves and Surfaces for Computer Graphics. Springer. 20.Siciliano, B., and O. Khatib. 2008. Springer Handbook of Robotics. Springer. 21.Sugano, S., and I. Kato. 1987. Wabot-2: Autonomous Robot with Dexterous Finger-Arm--Finger-Arm Coordination Control in Keyboard Performance. In Robotics and Automation. Proceedings. 1987 IEEE International Conference on IEEE. 22.Tanigaki, K., T. Fujiura, A. Akase, and J. Imagawa. 2008. Cherry-Harvesting Robot. Computers and Electronics in Agriculture 63(1):65-72. 23.Tsai, L.-W. 1995. Design of Tendon-Driven Manipulators. Journal of Mechanical Design 117(B):80-86. 24.Van Henten, E., B. v. Van Tuijl, J. Hemming, J. Kornet, J. Bontsema, and E. Van Os. 2003. Field Test of an Autonomous Cucumber Picking Robot. Biosystems Engineering 86(3):305-313. 25.Van Henten, E. J., J. Hemming, B. Van Tuijl, J. Kornet, J. Meuleman, J. Bontsema, and E. Van Os. 2002. An Autonomous Robot for Harvesting Cucumbers in Greenhouses. Autonomous Robots 13(3):241-258. 26.Yamamoto, S., S. Hayashi, H. Yoshida, K. Kobayashi, and K. Shigematsu. 2007. Development of an End Effector for a Strawberry-Harvesting Robot. In International Symposium on High Technology for Greenhouse System Management: Greensys2007 801. 27.李芳繁. 1999. 採摘柑橘果實機器手臂之研製, 農業機械學刊 28.林欣緯. 2010. 多軸機械手臂學習式運動控制器之開發, 臺灣大學機械工程學研究所學位論文 29.陳彥宗. 2009. 多軸機械手臂平台開發與控制, 臺灣大學機械工程學研究所學位論文 | |
dc.identifier.uri | http://tdr.lib.ntu.edu.tw/jspui/handle/123456789/56141 | - |
dc.description.abstract | 機器人迄今發展相當地迅速,因應各種不同任務的需求,發展出不同類型的機器人。而機械手臂是具有相當程度的重要性,工廠內的生產線大量的被機器手臂所取代。本研究預計設計一個由繩索驅動的機械手臂,利用機械臂上的夾具對植物工廠中層架或是田間的作物進行夾取或採摘。其機械臂朝向輕量化,體積小,耗能低的方向進行設計。透過機構設計與運動學等將機械手臂所需的工作空間進行模擬,同時對機械手臂在空間中的路徑進行規劃,避障使得機械手臂在空間中能夠平順的移動。最後將靜力學和動力學所計算出來得知各軸關節所需的扭矩之關係,並且利用扭力彈簧機構來做重力所產生的扭矩補償,進而來讓機械手臂所消耗的能量降低。 | zh_TW |
dc.description.abstract | Today, the robot have developed very fast, and numerous types of robots to solve different tasks. A manipulator play the important role of this area, lots of people on the production line in factory replaced by manipulators. This thesis aims at designing a manipulator which driven by the cables, use the gripper to reach and grip the target in the plant factory or in the field. Light, small, lower power consume are this manipulator design guidelines. According to the mechanism design and kinematics, simulate the working space. Also using the cubic spline and the velocity planning to plan the path so the manipulator can move smoothly and avoid the obstacle in the Cartesian space. Finally, combine the statics and dynamics results to estimate the torque that each joints driver need to export to maintain the whole system. Use the spring to countervail the torque which produce by gravity, so that the energy can be reduced. | en |
dc.description.provenance | Made available in DSpace on 2021-06-16T05:16:43Z (GMT). No. of bitstreams: 1 ntu-103-R01631003-1.pdf: 2020595 bytes, checksum: c9d77e5fea9c156a2b7c2da5ad471425 (MD5) Previous issue date: 2014 | en |
dc.description.tableofcontents | 摘要 i
Abstract ii 圖目錄 v 表目錄 viii 第一章前言 1 第二章文獻探討 2 第三章機械臂理論及機構設計 9 3.1 繩索滑輪理論 9 3.2機構設計 14 第四章運動學及路徑規劃 20 4.1 順向運動學 20 4.2逆向運動學 25 4.3路徑規劃 27 4.4障礙物閃避 29 第五章靜力學與動力學 36 5.1靜力學 36 5.2動力學 39 第六章結果與討論 46 6.1扭矩平衡 46 6.2 動態比較 46 第七章結論 53 第八章參考文獻 54 附錄一 57 附錄二 67 | |
dc.language.iso | zh-TW | |
dc.title | 適用於果實採摘之六軸繩索機械臂機構設計與運動模擬分析 | zh_TW |
dc.title | 6-Axis Cable Driven Robot Armfor Fruit Harvesting
Mechanical Designand Motion Simulation | en |
dc.type | Thesis | |
dc.date.schoolyear | 102-2 | |
dc.description.degree | 碩士 | |
dc.contributor.oralexamcommittee | 周瑞仁(Jui-Jen Chou),朱元南(Yuan-Nan Chu),葉廷仁(Ting-Jen Yeh) | |
dc.subject.keyword | 機械手臂,機構設計,運動學,路徑規劃,動力學, | zh_TW |
dc.subject.keyword | manipulator,mechanism design,kinematics,trajectory planning,dynamics, | en |
dc.relation.page | 84 | |
dc.rights.note | 有償授權 | |
dc.date.accepted | 2014-08-18 | |
dc.contributor.author-college | 生物資源暨農學院 | zh_TW |
dc.contributor.author-dept | 生物產業機電工程學研究所 | zh_TW |
顯示於系所單位: | 生物機電工程學系 |
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