請用此 Handle URI 來引用此文件:
http://tdr.lib.ntu.edu.tw/jspui/handle/123456789/78131
完整後設資料紀錄
DC 欄位 | 值 | 語言 |
---|---|---|
dc.contributor.advisor | 陳達仁 | |
dc.contributor.author | Wei-Hsuan Chiang | en |
dc.contributor.author | 蔣瑋軒 | zh_TW |
dc.date.accessioned | 2021-07-11T14:43:13Z | - |
dc.date.available | 2021-11-02 | |
dc.date.copyright | 2016-11-02 | |
dc.date.issued | 2016 | |
dc.date.submitted | 2016-08-11 | |
dc.identifier.citation | [1] M. Walker and K. Oldham, 'A general theory of force balancing using counterweights,' Mechanism and Machine Theory, vol. 13, pp. 175-185, 1978.
[2] J. G. Wang and C. M. Gosselin, 'Static balancing of spatial three-degree-of-freedom parallel mechanisms,' Mechanism and Machine Theory, vol. 34, pp. 437-452, Apr 1999. [3] A. Fattah and S. K. Agrawal, 'Gravity-balancing of classes of industrial robots,' in Robotics and Automation, 2006. ICRA 2006. Proceedings 2006 IEEE International Conference on, 2006, pp. 2872-2877. [4] T. Laliberté, C. M. Gosselin, and M. Jean, 'Static balancing of 3-DOF planar parallel mechanisms,' Mechatronics, IEEE/ASME Transactions on, vol. 4, pp. 363-377, 1999. [5] I. Simionescu and L. Ciupitu, 'The static balancing of the industrial robot arms: part i: discrete balancing,' Mechanism and machine theory, vol. 35, pp. 1287-1298, 2000. [6] I. Simionescu and L. Ciupitu, 'The static balancing of the industrial robot arms: Part II: Continuous balancing,' Mechanism and machine theory, vol. 35, pp. 1299-1311, 2000. [7] D. Streit and E. Shin, 'Equilibrators for planar linkages,' Journal of Mechanical Design, vol. 115, pp. 604-611, 1993. [8] T. Rahman, R. Ramanathan, R. Seliktar, and W. Harwin, 'A simple technique to passively gravity-balance articulated mechanisms,' Transactions-American Society Of Mechanical Engineers Journal Of Mechanical Design, vol. 117, pp. 655-657, 1995. [9] S. K. Agrawal, G. Gardner, and S. Pledgie, 'Design and fabrication of an active gravity balanced planar mechanism using auxiliary parallelograms,' Journal of mechanical design, vol. 123, pp. 525-528, 2001. [10] S. K. Agrawal and A. Fattah, '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, pp. 2841-2846. [11] S. K. Agrawal and A. Fattah, 'Theory and design of an orthotic device for full or partial gravity-balancing of a human leg during motion,' Neural Systems and Rehabilitation Engineering, IEEE Transactions on, vol. 12, pp. 157-165, 2004. [12] A. Fattah, S. K. Agrawal, G. Catlin, and J. Hammnett, 'Design of a passive gravity-balanced assistive device for sit-to-stand tasks,' Journal of Mechanical Design, vol. 128, pp. 1122-1129, Sep 2006. [13] P.-Y. Lin, W.-B. Shieh, and D.-Z. Chen, 'A stiffness matrix approach for the design of statically balanced planar articulated manipulators,' Mechanism and Machine Theory, vol. 45, pp. 1877-1891, 2010. [14] P.-Y. Lin, W.-B. Shieh, and D.-Z. Chen, 'Design of statically balanced planar articulated manipulators with spring suspension,' Robotics, IEEE Transactions on, vol. 28, pp. 12-21, 2012. [15] Y.-Y. Lee and D.-Z. Chen, 'Determination of spring installation configuration on statically balanced planar articulated manipulators,' Mechanism and Machine Theory, vol. 74, pp. 319-336, 2014. [16] P.-Y. Lin, 'Design of statically balanced spatial mechanisms with spring suspensions,' Journal of Mechanisms and Robotics, vol. 4, p. 021015, 2012. [17] S. R. Deepak and G. Ananthasuresh, 'Static balancing of spring-loaded planar revolute-joint linkages without auxiliary links,' in 14th National Conference on Machines and Mechanisms (NaCoMM09), NIT, Durgapur, India, 2009. [18] R. Nathan, 'A constant force generation mechanism,' Journal of mechanisms, transmissions, and automation in design, vol. 107, pp. 508-512, 1985. [19] B. M. Wisse, W. D. Van Dorsser, R. Barents, and J. L. Herder, 'Energy-free adjustment of gravity equilibrators using the virtual spring concept,' in Rehabilitation Robotics, 2007. ICORR 2007. IEEE 10th International Conference on, 2007, pp. 742-750. [20] W. D. Van Dorsser, R. Barents, B. M. Wisse, and J. L. Herder, 'Gravity-balanced arm support with energy-free adjustment,' Journal of medical devices, vol. 1, pp. 151-158, 2007. [21] W. Van Dorsser, R. Barents, B. Wisse, M. Schenk, and J. Herder, 'Energy-free adjustment of gravity equilibrators by adjusting the spring stiffness,' Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science, vol. 222, pp. 1839-1846, 2008. [22] R. Barents, M. Schenk, W. D. van Dorsser, B. M. Wisse, and J. L. Herder, 'Spring-to-spring balancing as energy-free adjustment method in gravity equilibrators,' Journal of Mechanical Design, vol. 133, p. 061010, 2011. [23] N. Takesue, T. Ikematsu, H. Murayama, and H. Fujimoto, 'Design and prototype of variable gravity compensation mechanism (VGCM),' Journal of Robotics and Mechatronics, 2011. [24] J. F. Veneman, R. Ekkelenkamp, R. Kruidhof, F. C. van der Helm, and H. van der Kooij, 'A series elastic-and bowden-cable-based actuation system for use as torque actuator in exoskeleton-type robots,' The international journal of robotics research, vol. 25, pp. 261-281, 2006. [25] H. Liu, C. Gosselin, and T. Laliberté, 'Conceptual design and static analysis of novel planar spring-loaded cable-loop-driven parallel mechanisms,' Journal of Mechanisms and Robotics, vol. 4, p. 021001, 2012. | |
dc.identifier.uri | http://tdr.lib.ntu.edu.tw/jspui/handle/123456789/78131 | - |
dc.description.abstract | 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。 | zh_TW |
dc.description.abstract | 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. | en |
dc.description.provenance | Made available in DSpace on 2021-07-11T14:43:13Z (GMT). No. of bitstreams: 1 ntu-105-R03522615-1.pdf: 4636675 bytes, checksum: bbaa89136909acab5ef43813393858b1 (MD5) Previous issue date: 2016 | en |
dc.description.tableofcontents | 中文摘要 I
ABSTRACT II Chapter 1 Introduction 1 1.1 Background 1 1.2 Related works 1 1.3 Motivation and objectives 5 1.4 Overview of the dissertation 7 Chapter 2 Characteristics of SBM 9 2.1 Coordinate system of SBM 9 2.2 Characteristics of gravitational SBM 10 2.3 Characteristics of elastic SBM 12 2.4 Static balance of total SBM 15 Chapter 3 Determination PDP and PIP arrangements 19 3.1 Arrangement of PDPs 19 3.2 Arrangement of PIPs 21 3.3 Admissible spring configuration matrices for different DOF VPM 25 3.4 Demonstration of 2, 3-DOF VPM 26 Chapter 4 Minimum number of PDP adjustment devices 29 4.1 Reduce the number of PDPs 29 4.2 Equivalent displacement of PDPs 30 4.3 Admissible number of PDP adjustment devices for spring configurations 32 4.4 Demonstration of 2, 3 DOF VPM with minimum PDP adjustment devices 35 Chapter 5 Illustrative example and demonstration prototype 40 5.1 Simulated results of 2-DOF, three springs VPM 40 5.2 Simulated results of 3-DOF, five springs VPM 45 5.3 Demonstration prototype of 2-DOF VPM 51 5.3.1 Arrangement of non-zero free length spring 51 5.3.2 Reduction for the length of spring elongation 52 5.3.3 CAD model and engineering prototype 53 5.4 Steps for changing payloads 58 Chapter 6 Conclusion 59 References 61 | |
dc.language.iso | en | |
dc.title | 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 | zh_TW |
dc.title | Design of Planar Various-Payload Balanced Articulated Manipulators with Actuated Linear Ground-Adjacent Adjustment | en |
dc.type | Thesis | |
dc.date.schoolyear | 104-2 | |
dc.description.degree | 碩士 | |
dc.contributor.oralexamcommittee | 黃中明,吳宗明 | |
dc.subject.keyword | 可變負重,平衡,彈簧,接地,線性調整, | zh_TW |
dc.subject.keyword | various payload,balanced,spring,ground,linear adjustment, | en |
dc.relation.page | 63 | |
dc.identifier.doi | 10.6342/NTU201602316 | |
dc.rights.note | 有償授權 | |
dc.date.accepted | 2016-08-12 | |
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-105-R03522615-1.pdf 目前未授權公開取用 | 4.53 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。