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http://tdr.lib.ntu.edu.tw/jspui/handle/123456789/73618完整後設資料紀錄
| DC 欄位 | 值 | 語言 |
|---|---|---|
| dc.contributor.advisor | 李志中 | |
| dc.contributor.author | Hsin-Jung Ho | en |
| dc.contributor.author | 何欣容 | zh_TW |
| dc.date.accessioned | 2021-06-17T08:06:53Z | - |
| dc.date.available | 2020-08-22 | |
| dc.date.copyright | 2019-08-22 | |
| dc.date.issued | 2019 | |
| dc.date.submitted | 2019-08-19 | |
| dc.identifier.citation | [1] J.J. Craig, Introduction to Robotics: Mechanics and Control. 3rd ed., Pearson Prentice-Hall, N.Y., 2005.
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| dc.identifier.uri | http://tdr.lib.ntu.edu.tw/jspui/handle/123456789/73618 | - |
| dc.description.abstract | 連續型機械臂是一種可連續彎曲、且具有多自由度的機構，由柔體與剛體桿件所組成，沒有運動接頭。連續型機械臂依照其形態可分為無支柱、單一支柱和多支柱三種型態。由於支柱變形屬於非線性大變形，因此本研究將應用向量式有限元素法於連續型機械臂之運動分析。向量式有限元素法以牛頓第二運動定律為基礎，使用點值描述及途徑單元處理空間與時間的關係，並透過時間積分來處理結構大變形求解。此法為模擬結構動力的分析分法，加入阻尼的效應即可模擬靜力問題，在計算效率上有很大的優勢。本文模擬單一支柱繩驅動連續機械臂，首先建立機構的模型，描述驅動繩與繩孔間接觸力，再透過等效力的方式施於支柱，應用向量式有限元素法求解流程來進行機械臂的力量及位移分析；接著進行數值模擬，並探討楊氏係數、繩孔摩擦係數和圓盤數目對變形的影響，最後架設實驗平台進行力量、位移量測並和數值模擬比較。 | zh_TW |
| dc.description.abstract | A continuum arm is a mechanism, which is capable of continuously curving and has infinite number of degree of freedom. It is composed of soft body and rigid body without the connection of joints. The continuum arm can be classified into three types according to the number of backbones, namely, the type without backbone, the type of single-backbone and the type of multi-backbone. Due to the nonlinear large deformation of backbone, this research applied the Vector Form Intrinsic Finite Element method to solve the relationship between force and deformation of continuum arm. The aim of this research is to analyze the motion of the cable-driven continuum arm with single backbone by using the Vector Form Intrinsic Finite Element method (VFIFE). First, a model of mechanism was established. Then, the contact force between driven-cables and cable holes on the disk was formulated to be equivalent to the forces applied to backbone. Next, the Vector Form Intrinsic Finite Element method was applied to analyze the force and displacement of the continuum arm. Finally, an experiment was conducted to validate the results of simulation. | en |
| dc.description.provenance | Made available in DSpace on 2021-06-17T08:06:53Z (GMT). No. of bitstreams: 1 ntu-108-R06522617-1.pdf: 2972550 bytes, checksum: fcaa4381547779e6e99469d6db2c885e (MD5) Previous issue date: 2019 | en |
| dc.description.tableofcontents | 誌謝 i
摘要 ii Abstract iii 圖目錄 vii 表目錄 ix 第一章 緒論 1 1.1 研究背景 1 1.2 文獻回顧 2 1.2.1 連續型機械臂 2 1.2.2 向量式有限元素法 6 1.3 研究動機與目的 8 1.4 本文架構 9 第二章 向量式有限元素法理論 10 2.1 前言 10 2.2 基本假設與定義 10 2.3 途徑單元 11 2.4 逆向運動 11 2.5 元素內力 13 2.6 元素外力 15 2.7 節點質量 16 2.8 時間積分與運動方程式求解 17 2.9.1 時間積分 17 2.9.2 運動方程式求解動力 18 2.9.3 質量阻尼運動方程式求解靜力 20 2.9.4 運動阻尼運動方程式求解靜力 22 第三章 機構構造與運動分析 27 3.1 前言 27 3.2 繩驅動連續型機械臂之構造 27 3.3 模型假設 29 3.4 接觸摩擦力 31 3.5 支柱等效力 32 3.6 節點質量 34 3.7 力量控制 34 3.8 位移控制 37 第四章 數值模擬 41 4.1 前言 41 4.2 模擬參數設定 41 4.3 力量控制數值模擬 42 4.3.1 動力模擬 43 4.3.2 靜力模擬 44 4.4 位移控制數值模擬 50 第五章 實驗與驗證 52 5.1 前言 52 5.2 量測裝置與實驗平台 52 5.2.1 繩驅動連續型機械臂 52 5.2.2 力量量測裝置 52 5.2.3 量測平台架設 55 5.3 實驗量測與數據 58 5.3.1 力量控制 58 5.3.2 位移控制 63 5.4 小結 67 第六章 結論與未來展望 68 6.1 結論 68 6.2 未來展望 69 參考文獻 70 | |
| dc.language.iso | zh-TW | |
| dc.subject | 運動阻尼 | zh_TW |
| dc.subject | 繩驅動連續型機械臂 | zh_TW |
| dc.subject | 向量式有限元素法 | zh_TW |
| dc.subject | 力量分析 | zh_TW |
| dc.subject | 位移分析 | zh_TW |
| dc.subject | 繩驅動連續型機械臂 | zh_TW |
| dc.subject | 向量式有限元素法 | zh_TW |
| dc.subject | 運動阻尼 | zh_TW |
| dc.subject | 力量分析 | zh_TW |
| dc.subject | 位移分析 | zh_TW |
| dc.subject | Cable-driven Continuum Arm | en |
| dc.subject | Continuum Arm with Single Backbone | en |
| dc.subject | Force and Displacement Analysis | en |
| dc.subject | Cable-driven Continuum Arm | en |
| dc.subject | Vector Form Intrinsic Finite Element Method | en |
| dc.subject | Dynamic-Relaxation Method | en |
| dc.subject | Force and Displacement Analysis | en |
| dc.subject | Dynamic-Relaxation Method | en |
| dc.subject | Vector Form Intrinsic Finite Element Method | en |
| dc.subject | Continuum Arm with Single Backbone | en |
| dc.title | 向量式有限元素法應用於繩驅動連續型機械臂之運動分析 | zh_TW |
| dc.title | Motion Analysis of Cable-driven Continuum Robot Using Vector Form Intrinsic Finite Element Method | en |
| dc.type | Thesis | |
| dc.date.schoolyear | 107-2 | |
| dc.description.degree | 碩士 | |
| dc.contributor.oralexamcommittee | 莊清鏘,吳東岳 | |
| dc.subject.keyword | 繩驅動連續型機械臂,向量式有限元素法,運動阻尼,力量分析,位移分析, | zh_TW |
| dc.subject.keyword | Continuum Arm with Single Backbone,Cable-driven Continuum Arm,Vector Form Intrinsic Finite Element Method,Dynamic-Relaxation Method,Force and Displacement Analysis, | en |
| dc.relation.page | 72 | |
| dc.identifier.doi | 10.6342/NTU201901504 | |
| dc.rights.note | 有償授權 | |
| dc.date.accepted | 2019-08-19 | |
| 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 | |
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