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| DC 欄位 | 值 | 語言 |
|---|---|---|
| dc.contributor.advisor | 劉霆 | |
| dc.contributor.author | Yeou-Chyuan Wong | en |
| dc.contributor.author | 黃友權 | zh_TW |
| dc.date.accessioned | 2021-06-13T17:27:38Z | - |
| dc.date.available | 2004-12-28 | |
| dc.date.copyright | 2004-12-28 | |
| dc.date.issued | 2004 | |
| dc.date.submitted | 2004-12-03 | |
| dc.identifier.citation | [1] L.W.Tsai, Robot Analysis: the mechanics of serial and parallel manipulators, John Wiley and Sons, Inc.,1999.
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| dc.identifier.uri | http://tdr.lib.ntu.edu.tw/jspui/handle/123456789/39400 | - |
| dc.description.abstract | 本研究針對平面線驅動平台，探討其調控邏輯與分析運動路徑及誤差。首先，推導線驅動平台之逆向運動學、奇異點和力學方程式作為本研究之基礎理論。其次發展一利用耦點曲線配合重力場的方法，尋找線驅動平台之位置，以及求出二線、三線、四線之線驅動平台姿態解。然後，探討四線驅動平台在重力場下，增加任意一條線之長度後，會造成之現象，並提出一套判斷線鬆緊之方法。再就各個馬達間的進給方式，捲緊或鬆弛線長，提出一套順序驅動平台定位之流程。此外，將路徑型態分成直線、圓型和曲線三種，在給定平台之移動特定點後，以程式運算其數值結果並以動態軟體描繪。最後探討與分析順序調控之誤差量。藉由本研究可以更具體了解，線驅動平台在實際運用時，各個驅動馬達之間的配合與相互影響，可作為將來進一步研發之基礎。 | zh_TW |
| dc.description.abstract | The goal of this study is to investigate the motion of wire-driven platforms (WDP) with sequential actuator. This paper begins with a study of inverse kinematics, Jacobian analysis, Singularity analysis and Static of WDP. The Coupler Point Curve method is proposed to solve the forward kinematics problem of planar type WDP in the gravity field. Then, changes in wires tension due to increased limited length are discussed along with a trajectory planning strategy of sequential actuates motor, including a straight line, circle and cubic spline curve. Finally, error analysis and numerical simulations are presented to further illustrate the feasibility of the proposed strategy. The results of this study are helpful for the motion controllers command generator of WDP. | en |
| dc.description.provenance | Made available in DSpace on 2021-06-13T17:27:38Z (GMT). No. of bitstreams: 1 ntu-93-R91522628-1.pdf: 3327403 bytes, checksum: 4d4e9949ad2f3bcc9843f09de53d9f10 (MD5) Previous issue date: 2004 | en |
| dc.description.tableofcontents | 致謝……………………………………………………………….……一
中文摘要……………………………………………………………….二 英文摘要……………………………………………………………….三 目錄…………………………………………………………………….四 圖目錄………………………………………………………………….六 表目錄………………………………………………………………...八 符號表……………………………………………………………...…九 第一章 緒論…………………………………………………………...1 第二章 線驅動平台之基礎理論………………………………………11 2.1 逆向運動學分析…………………………………………11 2.2 奇異點分析……………….………………………………15 2.3 工作點分析………………………….……………………16 第三章 順向運動學………………....………………………………18 3.1 幾何圖解法……………………………………………….19 3.2 耦點曲線法……………………………………………….21 3.2.1 二線線驅動平台……….........……………………….21 3.2.2 三線線驅動平台……………………..……….………….25 3.2.3 四線線驅動平台…………………………………………..28 3.3 小結……………………………………………...………36 第四章 順序調控基本邏輯……………………………………………39 4.1 路徑之定義……………………………………………….39 4.1.1直線路徑…….........………………………………….40 4.1.2圓路徑……….......…………………………………….41 4.1.3 曲線路徑…….......…………………………………..43 4.2 線鬆弛與緊繃之判斷…………………………………….46 4.3 驅動順序…………………….…………………………..52 4.4 順序調控之流程…………………………………..…...54 4.5 小結……………………………………………………...56 第五章 數值分析與模擬………………………………………………57 5.1 程式數值分析步驟……………………………………...57 5.2 軟體模擬步驟….…………………………………......58 5.3 數值範例………………………………………………....60 5.3.1 順序調控之直線路徑……………………………..61 5.3.2 順序調控之圓路徑………………………………..64 5.3.3 順序調控之曲線路徑…………………………....69 5.4 討論………………………………………………………...73 第六章 誤差分析…………………………………………........…75 6.1 偏移誤差量分析…………………………………………….....75 6.2 線長精度誤差量與平台姿態誤差量分析……………………...78 6.3 線驅動平台之誤差量分析……………..……………...…79 6.3.1 偏移誤差量………………….....…………………81 6.3.2 線長精度誤差量與平台姿態誤差量…...…………87 6.4 數值誤差…………………………………………………...95 6.5 討論……………………….…….…………………..... .97 第七章 結論…………………………...……………………………99 7.1 結論……………......………….…………….…………99 7.2 未來研究方向……........……………………………..101 參考文獻………………………….………………………………….102 附錄A……………………………...…………………………………A-1 | |
| dc.language.iso | zh-TW | |
| dc.title | 平面線驅動平台在重力場下之驅動順序調控 | zh_TW |
| dc.title | sequential control of wires of planar type Wire-Driven platforms in the gravity field | en |
| dc.type | Thesis | |
| dc.date.schoolyear | 93-1 | |
| dc.description.degree | 碩士 | |
| dc.contributor.oralexamcommittee | 李志中,王勵群 | |
| dc.subject.keyword | 線驅動平台,順向運動學,順序驅動, | zh_TW |
| dc.subject.keyword | sequential,wire-driven platform,forward kinematic, | en |
| dc.relation.page | 106 | |
| dc.rights.note | 有償授權 | |
| dc.date.accepted | 2004-12-06 | |
| 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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