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| DC 欄位 | 值 | 語言 |
|---|---|---|
| dc.contributor.advisor | 李志中 | |
| dc.contributor.author | Wen-Chieh Hsu | en |
| dc.contributor.author | 許文杰 | zh_TW |
| dc.date.accessioned | 2021-06-15T04:52:39Z | - |
| dc.date.available | 2015-08-02 | |
| dc.date.copyright | 2010-08-02 | |
| dc.date.issued | 2010 | |
| dc.date.submitted | 2010-07-30 | |
| dc.identifier.citation | [1] SCHUNK Homepage. Available from : <http://www.schunk.com/schunk/index.html>
[2] Otto Bock Homepage. Available from : <http://www.ottobock.com/en> [3] Rennerfelt, G., “Artificial Hand,” US Patent 4792338. (1988) [4] Chen, S. J., “Motor-Driven Prosthetic Prehensor,” US Patent 6358285. (2002) [5] Touch Bionics Homepage. Available from : <http://www.touchbionics.com/i-LIMB> [6] Higuchi, T. and Harada M., “Movable Finger for Prostheses, Upper Extremity Prostheses Using this Movable Finger, and Movable Finger Controller,” US Patent 6896704. (2005) [7] Winfrey, R. C., “Prosthetic Hand Having a Conformal, Compliant Grip and Opposable, Functional Thumb,” US Patent 7361197. (2008) [8] Jacoben, S.C., Iversen, E.K., Knutti, D.F., Johnson, R.T. and Biggers, K.B., “Design of the UTAH/M.I.T. Destrous Hand,” Proceedings of IEEE International Conference on Robotics and Automation, pp. 1520-2530. (1986) [9] Butterfaβ, J., Grebenstein, M., Liu, H. and Hirzinger, G., “DLR-Hand II: Next Generation of a Dextrous Robot Hand,” Proceeding of the 2001 IEEE International Conference on Robotics & Automation, pp. 109-114. (2001) [10] Tetsuya, M. , Kawasaki, H. , Yoshikawa, K. , Takai, J. and Ito, S., “Anthropomorphic Robot Hand: Gifu Hand III,” Proc. of Int. Conf. on Control, Automation and Systems, pp. 1288-1293. (2002) [11] Matsuda, H., “Multi-Finger Hand Device,” US Patent 7222904. (2007) [12] Mullen, J.F., “Mechanical Hand,” US Patent 3694021 (1972) [13] Lee, S., “Artificial Dexterous Hand,” US Patent 4946380. (1990) [14] Graham, D.F., “Artificial Hand and Digit Therefor,” US Patent 5200679. (1993) [15] Crisman, J.D., Kanojia, C. and Zeid, I., “Robot Arm End Effector,” US Patent 5570920. (1996) [16] Doshi, R., Yeh, C. and Leblanc, M., “The Design and Development of a Gloveless Endoskeletal Prosthetic Hand,” Journal of Rehabilitation Research and Development, Vol. 35, No. 4, pp. 388-395. (1998) [17] Massa, B., Roccella, S., Carrozza, M.C. and Dario, P., “Design and Development of an Underactuated Prosthetic Hand,” Proceeding of the 2002 IEEE International Conference on Robotics & Automation, pp. 3374-3379. (2002) [18] Itoh, H., “Mechanical Hand,” US Patent 3927424. (1975) [19] Crowder, R.M. and Whatley D.R., “Robotic Gripping Device Having Linkage Actuated Finger Sections,” US Patent 4834443. (1989) [20] Bartholet, S.J., “Reconfigurable End Effector,” US Patent 5108140. (1992) [21] Gosselin, C.M. and Laliberte, T., “Underactuated Mechanical Finger with Return Actuation,” US Patent 5762390. (1998) [22] Fukaya, N. and Toyama, S., “Design of the TUAT/Karlsruhe Humanoid Hand,” Proceeding of the 2002 IEEE/RSJ International Conference on Intelligent Robotics and systems.. (2000) [23] Dechev, N., Cleghorn, W.L. and Naumann, S., “Multiple Finger, Passive Adaptive Grasp Prosthetic Hand,” Mechanism and Machine Theory, Vol. 36, pp. 1157-1173. (2001) [24] Nasser, S., Rincon, D. and Rodriguez, M., “Design of an Anthropomorphic Underactuated Hand Prosthesis with Passive-Adaptive Grasping Capabilities,” 2006 Florida Conference on Recent Advances in Robotics, pp. 1-7. (2006) [25] Wu, L.C., Carbone, G. and Ceccarelli, M., “Design an Underactuated Mechanism for a 1 Active DOF Finger Operation,” Mechanism and Machine Theory, Vol. 44, pp. 336-348. (2009) [26] Yan, H.S., “A Methodology for Creative Mechanism Design,” Mechanism and Machine Theory, Vol. 27, No. 3, pp. 235-242. (1992) [27] Tsai, L. W., Mechanism Design: Enumeration of Kinematic Structures According to Function, CRC Press, New York. (2000) [28] Chen, D.Z. and Pai, W.M., “A Methodology for Conceptual Design of Mechanisms by Parsing Design Specifications,” Journal of Mechanical Design, Vol. 127, pp. 1039-1044. (2005) [29] Tsai, L.W., “Robot Analysis-The Mechanics of Serial and Parallel Manipulators,” John Wiley & Sons, Inc. (1999) [30] Montambault, S. and Gosselin, C.M., “Analysis of Underactuated Mechanical Grippers”, Journal of Mechanical Design, Vol. 123, pp. 367-374. (2001) | |
| dc.identifier.uri | http://tdr.lib.ntu.edu.tw/jspui/handle/123456789/46059 | - |
| dc.description.abstract | 隨著機器人技術的發展與進步，機械手在不同領域的應用，逐漸往高自由度與低控制複雜度等方向發展。本研究針對現有的連桿驅動式機械手進行分析，歸納出其特性與設計需求，並以系統化的方法合成出所需的三自由度封閉鏈手指機構；接著建立不足驅動手指機構的運動分析數學模型，以及抓取特定外形物體時，機構與接觸點位置的數學模型，藉由靜力分析建立機構在輸入力量與輸出力量之間的關係矩陣，得到各個指節與物體間的接觸力關係；設定手指機構於特定構型下的抓握力條件，訂出設計目標與設計限制，利用最佳設計的理論，求取機構的最佳尺寸，設計出合適的不足驅動被動適應手指機構，最後製造出實體機構模型以驗證。 | zh_TW |
| dc.description.abstract | With the rapid growth of robot application, a trend for robotic technology has been developed as manipulators with high mobility yet with less control complexity. To meet the need for such trend, design of underactuated passively adaptive manipulator has been proposed by some researches. This work analyzed the existing underactuated robotic mechanisms. The characteristics and the design requirement of such mechanisms are summarized. Mechanisms with three degrees of freedom are enumerated via mechanism synthesis method. The kinematic and static analysis of a mechanism obtained from the synthesis is performed. Subsequently, design optimization of the mechanism is discussed and conducted. Finally, a mock-up is built to test and validate the design. | en |
| dc.description.provenance | Made available in DSpace on 2021-06-15T04:52:39Z (GMT). No. of bitstreams: 1 ntu-99-R97522610-1.pdf: 4665680 bytes, checksum: 4df9063cdce5254d56dc1bf57f30c38c (MD5) Previous issue date: 2010 | en |
| dc.description.tableofcontents | 摘要 I
Abstract II 目錄 III 圖目錄 VI 表目錄 X 第一章 緒論 1 1.1 研究背景 1 1.2 文獻回顧 2 1.3 研究動機與目的 9 1.4 本文架構 9 第二章 機構合成與挑選 11 2.1 前言 11 2.2 現有機構 11 2.3機構合成 19 2.3.1 機構特性 19 2.3.2 構造需求 20 2.3.3 功能需求 22 2.3.4 設計限制 23 2.3.5 可行機構 24 2.4機構挑選 30 2.5 彈簧配置 32 第三章 運動分析 34 3.1 前言 34 3.2 連桿介紹與參數設定 34 3.3 機構位移分析 36 3.4 手指機構抓物構型 39 第四章 靜力分析 42 4.1 前言 42 4.2 力量分析方法 42 4.3 力量分析 44 第五章 最佳化設計 52 5.1 前言 52 5.2 手指機構三階段動作 52 5.3 設計目標與設計參數 54 5.4 設計限制 54 5.4.1機構初始狀態 55 5.4.2 第一特殊狀態 - O2達最大旋轉角 58 5.4.3 第二特殊狀態 - O2、O7達最大旋轉角 60 5.4.4 第三特殊狀態 - O2、O7、O8達最大旋轉角 60 5.4.5 其他機構可動能力考量 61 5.4.6抓握力限制條件 61 5.5最佳化設計與結果 62 5.5.1 初始值的選用 64 5.5.2 手指機構最佳化結果 65 第六章 模型製作與驗證 75 6.1 前言 75 6.2 3D模型與動作模擬 75 6.3 實體模型驗證 78 第七章 結論與未來研究方向 83 7.1 結論 83 7.2 未來研究方向 84 參考文獻 85 | |
| dc.language.iso | zh-TW | |
| dc.title | 不足驅動被動適應手指機構之設計 | zh_TW |
| dc.title | Design of Underactuated Passively Adaptive Finger Mechanism | en |
| dc.type | Thesis | |
| dc.date.schoolyear | 98-2 | |
| dc.description.degree | 碩士 | |
| dc.contributor.oralexamcommittee | 陳達仁,劉霆,林鎮洲 | |
| dc.subject.keyword | 不足驅動,欠驅動,自適應,手指機構,靜力分析,最佳化, | zh_TW |
| dc.subject.keyword | underactuated,passively adaptive,finger mechanism,static analysis,optimum design, | en |
| dc.relation.page | 99 | |
| dc.rights.note | 有償授權 | |
| dc.date.accepted | 2010-07-30 | |
| 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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