請用此 Handle URI 來引用此文件:
http://tdr.lib.ntu.edu.tw/jspui/handle/123456789/57524
完整後設資料紀錄
DC 欄位 | 值 | 語言 |
---|---|---|
dc.contributor.advisor | 陳達仁 | |
dc.contributor.author | Liang-Chun Chou | en |
dc.contributor.author | 周良駿 | zh_TW |
dc.date.accessioned | 2021-06-16T06:49:52Z | - |
dc.date.available | 2019-08-12 | |
dc.date.copyright | 2014-08-12 | |
dc.date.issued | 2014 | |
dc.date.submitted | 2014-07-24 | |
dc.identifier.citation | [1] Simionescu, I. and L. Ciupitu, The static balancing of the industrial robot arms Part I: Discrete balancing. Mechanism and Machine Theory, 2000. 35(9): p. 1287-1298.
[2] Simionescu, I. and L. Ciupitu, The static balancing of the industrial robot arms Part II: Continuous balancing. Mechanism and Machine Theory, 2000. 35(9): p. 1299-1311. [3] Bruzzone, L. and G. Bozzini, A statically balanced SCARA-like industrial manipulator with high energetic efficiency. Meccanica, 2011. 46(4): p. 771-784. [4] Herder, J.L., Design of spring force compensation systems. Mechanism and Machine Theory, 1998. 33(1-2): p. 151-161. [5] S., B.C.A.V.B. and G. S., Design and prototyping of a new balancing mechanism for spatial parallel manipulators. ASME, Journal of Mechanical Design, 2008. 130(7): p. 072305-072317. [6] Laliberte, T., C.M. Gosselin, and M. Jean, Static balancing of 3-DOF planar parallel mechanisms. Ieee-Asme Transactions on Mechatronics, 1999. 4(4): p. 363-377. [7] Russo, A., R. Sinatra, and F.F. Xi, Static balancing of parallel robots. Mechanism and Machine Theory, 2005. 40(2): p. 191-202. [8] Wang, J.G. and C.M. Gosselin, Static balancing of spatial three-degree-of-freedom parallel mechanisms. Mechanism and Machine Theory, 1999. 34(3): p. 437-452. [9] Wang, J.G. and C.M. Gosselin, Static balancing of spatial four-degree-of-freedom parallel mechanisms. Mechanism and Machine Theory, 2000. 35(4): p. 563-592. [10] Cheng, G., M. H. He, J. N. Huang, Y. T. Chen, C. C. Yen, and T. S. Jan, 2013, 'Table lamp and rotary joint thereof', Patent No. US8511861B2. [11] Hedlund, L., 2012, 'Lockable friction joint', Patent No. US20120086200A1. [12] Kantor, A.K., J. W., 2005, 'Friction control for articulating arm joint', Patent No. US6837468B1. [13] Rahman, T., et al., A simple technique to passively gravity-balance articulated mechanisms. Journal of Mechanical Design, 1995. 117(4): p. 655-658. [14] Agrawal, S.K., et al., Assessment of motion of a swing leg and gait rehabilitation with a gravity balancing exoskeleton. IEEE Trans Neural Syst Rehabil Eng, 2007. 15(3): p. 410-20. [15] Agrawal, S.K. and A. Fattah, Gravity-balancing of spatial robotic manipulators. Mechanism and Machine Theory, 2004. 39(12): p. 1331-1344. [16] Agrawal, S.K. and A. Fattah, Theory and design of an orthotic device for full or partial gravity-balancing of a human leg during motion. Ieee Transactions on Neural Systems and Rehabilitation Engineering, 2004. 12(2): p. 157-165. [17] Agrawal, S.K.F., A., Design of an Orthotic Device for Full or Partial Gravity-Balancing of a Human Upper Arm During Motion, in Intelligent Robots and Systems, 2003. (IROS 2003). Proceedings. 2003 IEEE/RSJ International Conference on. 2003. p. 2841 - 2846. [18] Banala, S.K., et al., Gravity-balancing leg orthosis and its performance evaluation. Ieee Transactions on Robotics, 2006. 22(6): p. 1228-1239. [19] Fattah, A.A., S.K., Gravity Balancing of a Human Leg using an External Orthosis, in Robotics and Automation, 2007 IEEE International Conference on. 2007. p. 3755 - 3760. [20] Lin, P.Y., W.B. Shieh, and D.Z. Chen, Design of Perfectly Statically Balanced One-DOF Planar Linkages With Revolute Joints Only. Journal of Mechanical Design, 2009. 131(5): p. 051004-051012. [21] Lin, P.Y., W.B. Shieh, and D.Z. Chen, Design of Statically Balanced Planar Articulated Manipulators With Spring Suspension. Ieee Transactions on Robotics, 2012. 28(1): p. 12-21. [22] Lin, P.Y., W.B. Shieh, and D.Z. Chen, A stiffness matrix approach for the design of statically balanced planar articulated manipulators. Mechanism and Machine Theory, 2010. 45(12): p. 1877-1891. [23] Lin, P.Y., W.B. Shieh, and D.Z. Chen, Design of a Gravity-Balanced General Spatial Serial-Type Manipulator. ASME Journal of Mechanism and Robotics, 2012. 2(3): p. 031003-031009. | |
dc.identifier.uri | http://tdr.lib.ntu.edu.tw/jspui/handle/123456789/57524 | - |
dc.description.abstract | 本論文提出一種分支型態之鉸接式靜平衡平面機構之設計。藉由安裝彈簧於機構之桿件特定位置上,使其彈力位能隨著桿件運動增減,進而使系統重力位能及彈力位能總合為一定值,該平面機構能夠平衡自身桿件在改變其位置時重力位能的改變,使系統在任何位置皆能夠達到靜平衡。基於此概念,首先定義分支型態之平面機構並予以分類,分支型態平面機構包含原來機構主幹部分(Main Part),以及分支部分(Branch Part),在定義分支型態平面機構之重力位能時,給予主幹與分支之重疊部分桿件一個質量比例常數,定義該桿件之質量分屬於主幹以及各分支部份之比例。接著利用剛性矩陣(Stiffness Block Matrix)分別表示主幹部分以及分支部份之重力位能,以及系統之彈力位能。將表示重力位能及彈力位能的剛性矩陣結合,即能夠清楚表示各桿件之間重力位能及彈力位能之效應。分支型態平面機構之靜平衡將拆成兩個部分討論,分別為主幹部分以及分支部分,視分支數目之多寡,可得兩個或兩個以上之剛性矩陣。令所有剛性矩陣除了主對角線上元素之外的元素為零矩陣可分別得設計方程式。根據特定的彈簧安裝角度以及設計方程式之間的交互關係,整理可得最佳設計方程式,透過最佳設計方程式可以確認彈簧常數以及安裝位置進而使系統達到靜平衡。接著提出兩個設計範例,分別為三自由度和五個自由度的分支型態平面機構,在合適的範圍分別設定各桿件質量、長度及相關參數,代入最佳設計方程式,選定合適的彈簧常數並決定彈簧安裝位置,使系統達到靜平衡。最後,根據設計理論使用ADAMS建立模型,並代入相關設計參數,驗證本研究之設計概念。 | zh_TW |
dc.description.abstract | This thesis addresses a design of branch type articulated statically balanced planar mechanism. Statically balanced mechanism is capable of self-sustaining the change of gravitational potential energy of the system at any configuration. By installing springs at particular places of linkages, total potential energy of system remains constant, keeping the system statically balanced. Branch type mechanism is divided into two parts to discuss, main part and branch part. The gravitational potential energy of the superposition of main part and branch part contains a mass ratio parameter. Mass ratio parameter indicates that the mass of the overlapped link belongs to main part or branch part. With stiffness block matrix, the gravitational potential energy and elastic potential energy of both main part and branch part can be described clearly. Based on the number of branches, there are two or more stiffness block matrices of the system. By letting the off-diagonal entries of the stiffness block matrices be zero matrices, the design equations of both main part and branch part are derived. The system can be statically balanced by selecting the constants and installation configurations of springs with the design equations. Illustration of the methodology are demonstrated by a 3-DOF branch type statically balanced planar mechanism which contains 2-DOF main part and 1-DOF branch part, and a 5-DOF branch type statically balanced planar mechanism which contains 3-DOF main part and 2-DOF branch part Final, the simulation models are built in ADAMS to verify the design concept of this study. | en |
dc.description.provenance | Made available in DSpace on 2021-06-16T06:49:52Z (GMT). No. of bitstreams: 1 ntu-103-R01522632-1.pdf: 2168972 bytes, checksum: 7f1c7c4c9833a05cd75737b76ac7d6f4 (MD5) Previous issue date: 2014 | en |
dc.description.tableofcontents | Abstract ii
CHAPTER 1 Introduction 1 1.1 Statically Balanced Mechanism 1 1.2 Spring-balancing Method 2 1.3 Motivation 7 CHAPTER 2 Branch Type Planar Mechanism 9 2.1 Definition of Branch Type Planar Mechanism 9 2.2 Representation of Branch Type Planar Mechanism 10 CHAPTER 3 Gravitational Potential Energy of Branch Type Planar Mechanism 13 3.1 Representation of Coordinate System 13 3.2 Representation of Gravitational Potential Energy 14 CHAPTER 4 Elastic Potential Energy of Branch Type Planar Mecahnism 29 4.1 Representation of Elastic Potential Energy 29 4.2 Spring Configuration Matrix 37 4.3 Spring Configuration Matrix of Branch Type Mechanism 40 CHAPTER 5 Gravity Balancing of Branch Type Planar Mechanism 44 5.1 The Principle of Gravity Balancing 44 5.2 Gravity Balance of Branch Type Planar Mechanism 45 CHAPTER 6 Design Example 50 6.1 A 3-DOF Branch Type planar Mechanism 50 6.2 A 5-DOF Branch Type planar Mechanism 62 CHAPTER 7 Conclusions 75 References 77 | |
dc.language.iso | en | |
dc.title | 分支型態之鉸接式靜平衡平面機構之設計 | zh_TW |
dc.title | Design of Branch Type Articulated Statically Balanced Planar Mechanism | en |
dc.type | Thesis | |
dc.date.schoolyear | 102-2 | |
dc.description.degree | 碩士 | |
dc.contributor.oralexamcommittee | 謝文賓,邢泰剛 | |
dc.subject.keyword | 靜平衡,彈簧平衡,分支,剛性矩陣,零自由長度彈簧, | zh_TW |
dc.subject.keyword | statically balanced,spring balance,branch,stiffness block matrix,zero-free-length spring, | en |
dc.relation.page | 78 | |
dc.rights.note | 有償授權 | |
dc.date.accepted | 2014-07-24 | |
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 |
文件中的檔案:
檔案 | 大小 | 格式 | |
---|---|---|---|
ntu-103-1.pdf 目前未授權公開取用 | 2.12 MB | Adobe PDF |
系統中的文件,除了特別指名其著作權條款之外,均受到著作權保護,並且保留所有的權利。