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標題: | 具理想化特性之一般彈簧的最小跨越空間、佈線與路徑配置合成 Routing Configuration Synthesis of Conventional Springs with ZFL characteristics for Minimizing Spanning Space and Placing Spring |
作者: | Yu-Heng Ou 歐俞亨 |
指導教授: | 陳達仁 |
關鍵字: | 一般彈簧,捲線機構,路徑配置合成,串聯機械手臂,向量疊加, conventional spring,cable driven mechanism,routing configuration synthesis,serial manipulator,superposition of vector,conservation law, |
出版年 : | 2016 |
學位: | 碩士 |
摘要: | 本論文呈現一種方法使一般彈簧可以擁有零自由長度(ZFL)之理想特性,並提出明確的彈簧佈線方式使其能夠安裝於機構之上,另外,也提出一種基於空間再利用的彈簧路徑配置合成法。本文之模型是將彈簧-線組合安裝於一個串聯式機械手臂的兩個獨立桿件之間,根據彈簧的作用將其劃分成三個區域,用於安裝彈簧、拉伸彈簧和佈線。一旦安裝區有足夠的長度,彈簧便可以展現理想特性,針對佈線區:為了盡可能減少彈簧-線組之長度,理論中以桿件上最接近彈簧接點之距離做為參考指標,如此便可以清楚地表示出所有安裝條件下的彈簧-線組所需長度。由於過長的安裝區將會阻礙機構的運動,因此本文提供一套捲線機構,使得安裝區長度能縮短並合理地安裝於桿件上。另一方面,彈簧的拉伸區以一套路徑配置合成法展現,彈簧在替換成不同彈簧和接點位置後仍能夠提供相同的關節扭矩,卻占據更少空間;搭配捲線的方法,使得替換後的複數彈簧可以用一條彈簧取代,並展現相同特性。最佳化的路徑配置評估方式採用兩種參數:彈簧面積縮減率及彈簧貼伏程度,當彈簧佔用較小的空間,同時具備較高的貼伏度,便可以得到最佳化路徑配置。搭配上述方法,彈簧在機械手臂上的配置便可以全面地設計。本文在最後一節以一個串聯式三關節機械手臂的彈簧配置做為設計案例。 A methodology to develop tension springs with zero-free-length (ZFL) characteristics is presented, and the configurations for placing the springs precisely on the manipulators are introduced. Also, this paper proposes a general design approach for the routing configuration synthesis of the springs on the basis of the re-utilization of spring space. A spring–string arrangement installed between two separate links of a serial-type manipulator is employed and is divided into three regions for mounting, tensioning, and placing springs. The springs can develop ZFL characteristics if adequate length is ensured for mounting the springs. To shorten the length for placing springs, a reference length acquired from the link configurations is utilized. The minimization of the placing length can therefore be described clearly. Because the overextended springs and links resulting from the longish mounting length shroud the workspace of the other links, the springs are reorganized using cable-driven mechanisms to shorten the mounting length. The springs can then be arranged in alignment on the links. On the other hand, the proposed routing configuration synthesis are that one spring can be replaced by equivalent springs with consistent spring capability of the joint torque but occupy less spring space during motion. Wire winding technique of the springs is applied by using one equivalent sole springs for reducing the use of equivalent springs in routing configurations. Furthermore, the spring elongations are given a symbiosis relationship in wire winding so the spring coefficients can then be decreased. The assessments of the routing configuration synthesis by the shrinkage performance of spring space are provided. The optimized routing configuration is observed when the springs occupy least space, and align on the linkage, from which, the spring configuration can be readily obtained. The suggested configuration with and without wire winding is the scissor type. As achieved with these arrangements, comprehensive spring configurations on the manipulators can be shown. The routing configurations of the springs of a serial tri-articular manipulator are therefore illustrated as a design example in the last section. |
URI: | http://tdr.lib.ntu.edu.tw/jspui/handle/123456789/78182 |
DOI: | 10.6342/NTU201601711 |
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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