平面線驅動平台在重力場下之驅動順序調控

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。

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.