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| DC 欄位 | 值 | 語言 |
|---|---|---|
| dc.contributor.advisor | 顏家鈺(Jia-Yush Yen) | |
| dc.contributor.author | Michael Kam | en |
| dc.contributor.author | 關淮中 | zh_TW |
| dc.date.accessioned | 2021-06-16T05:25:57Z | - |
| dc.date.available | 2014-08-26 | |
| dc.date.copyright | 2014-08-26 | |
| dc.date.issued | 2014 | |
| dc.date.submitted | 2014-08-14 | |
| dc.identifier.citation | [1]N. Dechev, W. Cleghorn, and S. Naumann, 'Multi-segmented finger design of an experimental prosthetic hand,' in Proceedings of the Sixth National Applied Mechanisms & Robotics Conference, 2001.
[2]R. Oshima, T. Takayama, T. Omata, K. Kojima, K. Takase, and N. Tanaka, 'Assemblable three-fingered nine-degree of freedom hand for laparoscopic surgery,' in Intelligent Robots and Systems, 2009. IROS 2009. IEEE/RSJ International Conference on, 2009, pp. 5528-5533. [3]C. Ishii and K. Kobayashi, 'Development of a New Robotic Forceps Manipulator for Minimally Invasive Surgery and Its Control,' in SICE-ICASE, 2006. International Joint Conference, 2006, pp. 250-253. [4]C. Ishii, K. Kobayashi, Y. Kamei, and Y. Nishitani, 'Robotic Forceps Manipulator With a Novel Bending Mechanism,' Mechatronics, IEEE/ASME Transactions on, vol. 15, pp. 671-684, 2010. [5]L. Hoyul, O. Yonghwan, S. Woong-Hee, and C. Youngjin, 'Stackable manipulator for mobile manipulation robot,' in Robotics and Automation (ICRA), 2012 IEEE International Conference on, 2012, pp. 1964-1969. [6]L. Hoyul and C. Youngjin, 'Stackable 4-BAR mechanisms and their robotic applications,' in Intelligent Robots and Systems (IROS), 2010 IEEE/RSJ International Conference on, 2010, pp. 2792-2797. [7]L. Hoyul, C. Youngjin, and Y. Byung-Ju, 'Stackable 4-BAR Manipulators for Single Port Access Surgery,' Mechatronics, IEEE/ASME Transactions on, vol. 17, pp. 157-166, 2012. [8]D. M. Alter and T.-C. Tsao, 'Control of Linear Motors for Machine Tool Feed Drives: Design and Implementation of H∞ Optimal Feedback Control,' Journal of Dynamic Systems, Measurement, and Control, vol. 118, pp. 649-656, 1996. [9]G. Ellis, Control system design guide [electronic resource] : using your computer to understand and diagnose feedback controllers, 3 ed.: Amsterdam ; Boston : Elsevier Academic Press, 2004. [10]S. D. Eppinger and W. P. Seering, 'Three dynamic problems in robot force control,' Robotics and Automation, IEEE Transactions on, vol. 8, pp. 751-758, 1992. [11]B. Unger, R. Klatzky, and R. Hollis, 'Teleoperation Mediated Through Magnetic Levitation: Recent Results,' in Proceedings of Mechatronics and Robotics (MechRob '04), 2004, pp. 1453 - 1457. [12]D. W. Novotny, T. A. Lipo, and T. M. Jahns, Introduction to electric machines and drives. Madison, Wis.: Wisconsin Power Electronics Research Center, University of Wisconsin, 2009. [13]Available:http://www.maxonmotor.com.tw/maxon/view/content/index [14]RENESAS.Available:http://am.renesas.com/products/mpumcu/rx/index.jsp?campaign=tb_prod [15]MCU 101: How does a DC Motor work?Available:https://community.freescale.com/docs/DOC-1067 [16]DUAL FULL-BRIDGE DRIVER. Available: https://www.sparkfun.com/datasheets/Robotics/L298_H_Bridge.pdf [17]林容益, 'DSP 數位化機電控制 TMS320 F281X 系統.' [18]SERVO CONTROL FACTS: A HANDBOOK EXPLAINING THE BASICS OF MOTION. Available: http://www.baldor.com/pdf/manuals/1205-394.pdf | |
| dc.identifier.uri | http://tdr.lib.ntu.edu.tw/jspui/handle/123456789/56381 | - |
| dc.description.abstract | 本篇論文展示了一種新的設計及方法，用以提高微創手術(MIS)中儀器的剛性。
本論文提出的新型器械包含以四連桿機構為基礎的末端效應器、手持裝置與關節。新型機構將利用四連桿旋轉，與現階段可彎曲的器械能具有相同功能，並減少外力造成的不必要變形。本論文亦將手術器械結合致動器，設計閉迴路控制系統增加其剛性，並從閉迴路系統之波德圖中頻寬獲得驗證。本論文實驗結果得出，使用P控制器時頻寬皆約在23.88 Hz 以上，PI控制器則接近15.92 Hz。 | zh_TW |
| dc.description.abstract | This thesis presents a new design and a method of increasing stiffness for instruments for use in minimally invasive surgery (MIS).
The proposed mechanism features an end-effector based on a four-bar linkage, along with a hand-held device and joints. The proposed instrument is operated using a rotating motion identical to conventional bendable instruments. The purposed design eliminates undesired motions. The instrument is assembled with an actuator and motion converter mechanism. A closed-loop control was installed for the system to achieve the desired stiffness. The increase of the stiffness is verified from the closed-loop system bandwidth. The experimental results of using P controller was above 23.88 Hz, and the PI controller was approximately 15.92 Hz. | en |
| dc.description.provenance | Made available in DSpace on 2021-06-16T05:25:57Z (GMT). No. of bitstreams: 1 ntu-103-R01522804-1.pdf: 15128390 bytes, checksum: 02bfa845c5da2fd32e508799d0d1e1ac (MD5) Previous issue date: 2014 | en |
| dc.description.tableofcontents | 誌謝 i
中文摘要 ii ABSTRACT iii CONTENTS iv LIST OF FIGURES vii LIST OF TABLES x NOMENCLATURE xi Chapter 1 Introduction 1 Chapter 2 Four-bar linkage based MIS instrument design and manufacture 4 2.1 Design 4 2.1.1 End-effector 4 2.1.2 Hand-held device 6 2.1.3 Joint design 7 2.2 Manufacture 7 Chapter 3 Experimental principles 11 3.1 Actuation model 11 3.1.1 Principle of DC motor 11 3.1.2 Dynamic model with constant flux 14 3.1.3 Current loop control 15 3.2 Stiffness synthesis 17 3.3 System identification 21 3.4 Controller 22 Chapter 4 System architectures 24 4.1 Hardware architecture 25 4.1.1 The MIS instrument 25 4.1.2 Actuator 25 4.1.3 RX210 27 4.1.4 Driver circuit 30 4.1.5 Current sensing circuit 32 4.2 Software architecture 33 4.2.1 Timer output mode 34 4.2.2 Phase counting mode 36 4.2.3 A/D conversion 39 4.2.4 Procedures of the program 40 Chapter 5 Experimental results 44 5.1 The results of the current loop control 44 5.2 The identification result of the open-loop system 45 5.3 The experimental results of the closed-loop system 46 5.3.1 P control 46 5.3.2 PI control 47 Chapter 6 Conclusions and Future work 51 6.1 Conclusions 51 6.2 Future work 51 REFERENCE 53 | |
| dc.language.iso | en | |
| dc.subject | 頻寬 | zh_TW |
| dc.subject | 閉迴路控制 | zh_TW |
| dc.subject | 微創手術 | zh_TW |
| dc.subject | 四連桿 | zh_TW |
| dc.subject | 剛性 | zh_TW |
| dc.subject | four-bar linkage | en |
| dc.subject | closed-loop control | en |
| dc.subject | stiffness | en |
| dc.subject | bandwidth | en |
| dc.subject | Minimally invasive surgery | en |
| dc.title | 以四連桿為基礎之微創手術器械設計、製造、剛性合成 | zh_TW |
| dc.title | Four-bar Linkage Based Instrument Design, Manufacture, and Stiffness Synthesis of Minimally Invasive Surgery | en |
| dc.type | Thesis | |
| dc.date.schoolyear | 102-2 | |
| dc.description.degree | 碩士 | |
| dc.contributor.oralexamcommittee | 陳永耀(Yung-Yaw Chen),連豊力(Feng-Li Lian),何明志 | |
| dc.subject.keyword | 微創手術,四連桿,剛性,閉迴路控制,頻寬, | zh_TW |
| dc.subject.keyword | Minimally invasive surgery,four-bar linkage,stiffness,closed-loop control,bandwidth, | en |
| dc.relation.page | 54 | |
| dc.rights.note | 有償授權 | |
| dc.date.accepted | 2014-08-14 | |
| 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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