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http://tdr.lib.ntu.edu.tw/jspui/handle/123456789/70748
標題: | 平面鉸接式操作器於靜平衡前後之致動性能分析 Actuating Performances of Planar Articulated Manipulators with and without Static Balance |
作者: | Ho-Tai Tsai 蔡和泰 |
指導教授: | 陳達仁(Dar-Zen Chen) |
關鍵字: | 致動性能,操作器,彈簧,靜平衡, actuating performance,manipulator,spring,static balance, |
出版年 : | 2018 |
學位: | 碩士 |
摘要: | 本論文提出了操作器在靜平衡前後的致動性能,尤其是以彈簧達到靜平衡的類型。其中分析了操作器的關節扭矩以推論靜平衡前後致動性能的差異,並用靜止扭矩、關節扭矩的峰值、均方根值來評估操作器的煞車性能、馬達容量需求及能量消耗。一個三自由度的操作器被選用於進一步分析,並以Euler-Lagrange方程式在 Matlab中模擬出關節上的扭矩。關節扭矩在工作空間中的峰值被用於選擇裝於操作器上的馬達容量,而模擬結果顯示在靜平衡後各關節扭矩之峰值分別下降至靜平衡前之21.7%、31.6%及60.1%。而在給定之模擬舉升及取放路徑中,關節扭矩的均方根值被用於評估能量消耗。模擬結果顯示在舉升路徑中,靜平衡後的操作器之關節扭矩為零。而在取放路徑中,操作器在靜平衡下的關節扭矩的均方根值僅為操作器沒有靜平衡下的1.7%到37.5%。 This paper presents actuating performances of planar articulated manipulators with and without static balance, especially the spring balancing ones. The joint torques of manipulators are analyzed for deriving differences between actuating performances of manipulators with and without static balance, and stall torque, the maximum value and root-mean-square (RMS) value of joint torques are used for assessing the braking ability, the minimum admissible motors size and energy consumption of manipulators respectively. A 3-DOF manipulator with static balance is designed for analysis, and the joint torques are calculated by the Euler-Lagrange equation and simulated in Matlab. The maximum values of joint torques in the workspace are used for selecting the motors of manipulators, and the results show that the maximum values on each joint of the manipulator with static balance are reduced to 21.7%, 31.6%, and 60.1% respectively. Lifting and pick-and-place trajectory are simulated for assessing the energy consumption of manipulators, and the results show that the joint torques of the manipulator with static balance equal to zero in lifting operation, the RMS value of joint torque are reduced to 1.7% at most and 37.5% at least in pick-and-place operation. |
URI: | http://tdr.lib.ntu.edu.tw/jspui/handle/123456789/70748 |
DOI: | 10.6342/NTU201802777 |
全文授權: | 有償授權 |
顯示於系所單位: | 機械工程學系 |
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