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標題: | 具有線性及接地調整方式之可變負重之靜平衡鉸接式平面操作器之設計 Design of Planar Various-Payload Balanced Articulated Manipulators with Actuated Linear Ground-Adjacent Adjustment |
作者: | Wei-Hsuan Chiang 蔣瑋軒 |
指導教授: | 陳達仁 |
關鍵字: | 可變負重,平衡,彈簧,接地,線性調整, various payload,balanced,spring,ground,linear adjustment, |
出版年 : | 2016 |
學位: | 碩士 |
摘要: | 在本論文我們提出了一種可變負重之靜態平衡鉸接式操作器設計。透過重力和彈力位能的方程式,歸納出剛性矩陣(Stiffness Block Matrix SBM)來表現重力和彈力在各關節之間的相對位能,藉此求得重力和彈力位能作用於各關節之間的平衡方程式。並根據每一個彈簧安裝參數在平衡方程式中扮演的角色進行分類,可以將其分為用於平衡負重的安裝參數(Payload dependent parameter PDP)和與負重無關的安裝參數(Payload independent parameter PIP),PDP皆需要根據負重的改變來調整其接點位置,PDP調整裝置的設計即是用來調整PDP。透過分析SBM中的平衡方程式,可以歸納出將PDP的安裝於地桿及線性調整的彈簧配置。操作器上所需的PDP的數量會隨著自由度增加而增加,藉此可以得知在不同可變負重的操作器上容許的彈簧安裝數量。對於不同彈簧安裝數量的操作器,可依據PDP和PIP之間的相互關係,透過適當的安排PIP來減少PDP的數量。另外,對於擁有複數PDP的操作器,其位移量能夠透過適當的PIP來等量化,藉此讓多個PDP安裝在相同的調整裝置上,將PDP調整器的數量減少至一個。最後,根據設計理論,以兩個自由度的可變負重之操作器作為說明範例,進行PDP調整位置及位能變化的分析,並製作出實體原型機,用來驗證及展示本研究的設計概念。 Supporting different payloads has been shown to be effective for developing a multitasking manipulator. This paper presents a method for designing a static balanced articulated manipulator for sustaining various payloads. The balancing equations for the gravitational and spring elastic energies are developed using a stiffness block matrix, which represents interacting potential energies between the links. It is shown that the spring can be classified according to the role it plays in the balancing equations. Thus, the installation parameters can be divided into payload-dependent parameters (PDPs) and payload-independent parameters (PIPs). The admissible spring configurations for supporting various payloads are determined using the required number of PDPs, and PDPs adjustment devices are used to adjust PDPs while the payload changes. Base on the interrelation between PDPs and PIPs. The number of PDPs can be reduced through proper arrangement of PIPs. The displacement of different PDPs can be equalized to fit attachment points in the same adjustment device. Therefore, the number of PDP adjustment devices is minimized to one. 2-DOF various-payload balanced articulated manipulator is shown as illustrative example. A prototype is fabricated to demonstrate the various payload balancing method of this study. |
URI: | http://tdr.lib.ntu.edu.tw/jspui/handle/123456789/78131 |
DOI: | 10.6342/NTU201602316 |
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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