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| DC 欄位 | 值 | 語言 |
|---|---|---|
| dc.contributor.advisor | 顏炳郎(Ping-Lang Yen) | |
| dc.contributor.author | Ching-Heng Wang | en |
| dc.contributor.author | 王景恆 | zh_TW |
| dc.date.accessioned | 2021-06-16T08:42:57Z | - |
| dc.date.available | 2018-08-29 | |
| dc.date.copyright | 2013-08-29 | |
| dc.date.issued | 2013 | |
| dc.date.submitted | 2013-08-27 | |
| dc.identifier.citation | Bohez, E. L. (2002). Five-axis milling machine tool kinematic chain design and
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| dc.identifier.uri | http://tdr.lib.ntu.edu.tw/jspui/handle/123456789/58988 | - |
| dc.description.abstract | 本文旨在設計一台混合式五軸加工機，以龍門式架構結合RPS並聯式結構與XYZ平台所組成，透過改良式球接頭、冗自由度補償，本研究成功設計與實作出一台具有大工作空間之五軸加工機；相較於現存的混合式加工機，本研究採用龍門式結構旨在降低串並聯結構互相串聯所造成之累積誤差，以自行設計之R-R-R接頭取代一般球接頭，使接頭容許角可達90度，機構A軸可旋轉45度，以冗自由度補償結構，提升並聯機構整體工作空間增加，消除靈活度不一致特性，成功實現以小尺寸機構達到大工作空間之目的。在並聯機構設計方面，以運動學分析RPS並聯機構之工作空間、奇異點分布，並考量新型R-R-R接頭造成之奇異點，設計一補償角成功消除R-R-R接頭之奇異點現象，使接頭角度提升。在冗自由度補償方面，藉由推導冗自由度五軸加工機之逆向運動學並建立工作空間資料庫，並設計冗自由度補償最佳控制策略使冗自由度機台操作在並聯機構的最佳位置。最後本研究實作一台原型機，透過雷射干涉儀經度驗證、角度計驗證其精度，透過實作驗證所提出之R-R-R接頭角度性能；並以原型機驗證所提出之冗自由度補償策略可有效增大工作空間，並成功實現五軸同動的切削加工。 | zh_TW |
| dc.description.abstract | This study is to design a novel 5-axis machine tool, which combines a RPS parallel kinematic mechanism (PKM) and an X-Y-Z stage to a gantry structure. In this design, the Z-axis of the X-Y-Z stage is used as a redundancy axis for the RPS PKM so that rotation ranges of the PKM can be significantly increased. A custom-made RRR-joint is also proposed to substitute the commonly used spherical joint in PKM so that the tilt angle of the spherical joint can be up to 90 degree. As a result a large work volume of the PKM can be accomplished even with a small and compact machine tool. In the thesis kinematic analysis and real implementation of the proposed redundant hybrid machine tool has been performed. Experimental results from machining a complex shape show that the proposed RRR joint and redundancy axis for the PKM can effectively enlarging the work volume. | en |
| dc.description.provenance | Made available in DSpace on 2021-06-16T08:42:57Z (GMT). No. of bitstreams: 1 ntu-102-R99631034-1.pdf: 8995165 bytes, checksum: 937d79de630744f9b5b70d8619e50e79 (MD5) Previous issue date: 2013 | en |
| dc.description.tableofcontents | 第1章 前言 1
1-1 簡介 1 1-2 研究動機 3 1-3 文獻回顧 6 1-4 齊次座標轉換與D-H矩陣 7 1-5 研究方法 11 1-6 章節瀏覽 11 第2章 RPS並聯機構運動分析 13 2-1 並聯機構自由度 13 2-2 RPS並聯機構逆向運動學分析 13 第3章 RPS機構參數設計與奇異點分析 25 3-1 RPS 並聯機構邊界奇異點分析(Boundary Singularity) 25 3-2 RPS並聯機構工作空間計算方法 28 3-3 RPS並聯機構參數與工作空間之關係與最適化設計 29 3-4 順向運動奇異點分析(Forward Kinematic Singularity) 34 第4章 球接頭設計與支臂運動學分析 41 4-1 R-R-R接頭構型設計 41 4-2 支臂逆向運動學分析 42 4-3 支臂奇異點分析 50 4-4 楔形塊補償角度設計 57 第5章 冗自由度五軸加工機補償策略 60 5-1 冗自由度改善靈活度之模擬 60 5-2 冗自由度構型設計與自由度計算 67 5-3 冗自由度五軸加工機逆向運動學 68 5-4 冗自由度補償策略 73 第6章 實驗機台設計與架設 76 6-1 機構設計 76 6-2 機構組裝 80 6-3 系統架構 87 6-4 控制方法 88 6-5 精度驗證 91 6-6 循圓測試 96 第7章 冗自由度提升靈活度實驗 101 7-1 RPS並聯機構靈活度不一致現象 101 7-2 冗自由度提升工作空間驗證 103 第8章 切削實驗 105 8-1 三軸切削實驗 105 8-2 四軸切削實驗 114 8-3 五軸切削實驗 117 8-4 自動化切削實驗流程應用 119 第9章 結論與未來規劃 122 參考文獻 123 附錄 126 | |
| dc.language.iso | zh-TW | |
| dc.subject | 冗自由度 | zh_TW |
| dc.subject | 混合式結構 | zh_TW |
| dc.subject | 並聯機構 | zh_TW |
| dc.subject | 五軸加工機 | zh_TW |
| dc.subject | 五軸工具機 | zh_TW |
| dc.subject | 奇異點分析 | zh_TW |
| dc.subject | Singularity Analysis | en |
| dc.subject | 5-Aixs Machine Tool | en |
| dc.subject | Parallel Kinematic Mechanism | en |
| dc.subject | Redundant Axis | en |
| dc.subject | Hybrid Structure | en |
| dc.subject | Multi-Axis Machine Tool | en |
| dc.title | 冗自由度混合式五軸加工機之設計與實作 | zh_TW |
| dc.title | Design and Realization of Redundant Hybrid Five-axis Machine Tool | en |
| dc.type | Thesis | |
| dc.date.schoolyear | 101-2 | |
| dc.description.degree | 碩士 | |
| dc.contributor.oralexamcommittee | 葉廷仁(Ting-Jen Yeh),顏木田 | |
| dc.subject.keyword | 五軸工具機,五軸加工機,並聯機構,冗自由度,混合式結構,奇異點分析, | zh_TW |
| dc.subject.keyword | Multi-Axis Machine Tool,5-Aixs Machine Tool,Parallel Kinematic Mechanism,Redundant Axis,Hybrid Structure,Singularity Analysis, | en |
| dc.relation.page | 131 | |
| dc.rights.note | 有償授權 | |
| dc.date.accepted | 2013-08-27 | |
| 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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