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http://tdr.lib.ntu.edu.tw/jspui/handle/123456789/70742
標題: | 彈簧靜平衡機構之彈簧能量效能評估 Effectiveness Assessment of Spring Energy of Statically Spring-Balanced Articulated Manipulators |
作者: | Wei-Tun Chan 詹惟敦 |
指導教授: | 陳達仁 |
關鍵字: | 彈簧,靜平衡,彈簧配置,彈簧效能,彈力位能, spring,spring configuration,static balance,spring effectiveness,spring energy, |
出版年 : | 2018 |
學位: | 碩士 |
摘要: | 本論文的目的是評估彈簧所提供的彈力位能中有助於達成靜平衡的比例。此評估基於彈力和重力分量在剛性方塊矩陣(stiffness block matrix)中分佈的特性,探討彈簧彈力位能和連桿重力位能的交互作用。連桿提供的重力分量作用於地面和各連桿之間;彈簧提供的彈力分量作用於彈簧跨越連桿中任二連桿之間。由此可知,重力位能只能由接地彈簧的彈力位能來平衡,而多餘的彈力位能則需由非接地彈簧的彈力位能來補償。彈簧提供的彈力位能中去對抗重力位能和多餘的彈力位能是達到靜平衡必須存在的能量。對於給定的彈簧配置,這些彈力位能數量的比例可作為彈簧效能的評估,並可用來定義定性效能指數(qualitative effectiveness index)。在考慮連桿和彈簧參數後,可推得彈力分量的大小,並可利用該比例來定義定量效能指標(quantitative effectiveness index)。結果發現定性效能指標介於0.520到0.636間,在彈簧配置中,越多跨越關節少的彈簧具有較高的效能。而定量效能指標介於0.6到1間,在大部分的情況下,隨著彈簧接點位置越遠,指數越接近1。該指數可評估彈簧效能,在彈簧彈力位能具有較小交互作用的情況下為靜平衡機構選擇適當的彈簧配置。 This study assesses the proportion of spring energy that is beneficial for static balance. From the stiffness block matrix, the gravitational and spring energy can be divided into the gravitational and elastic components. The beneficial elastic components in the directions against gravitational or excess elastic components are identified. For the effectiveness assessment of admissible spring configurations, a qualitative index is defined as the proportion of the number of beneficial elastic components. Considering the magnitude of spring constant and attachment positions, the magnitudes of elastic components are obtained and used to define a quantitative index. The results show that qualitative indices range from 0.520 to 0.636. The larger the number of springs spanning over fewer joints in the spring configuration, the higher is the index. In addition, quantitative indices range from 0.6 to 1. In most cases, as the spring attachment positions approach infinity, the index approaches 1. The index can be used to select the proper spring configuration for articulated manipulators with the minimum energy of springs compensating each other. |
URI: | http://tdr.lib.ntu.edu.tw/jspui/handle/123456789/70742 |
DOI: | 10.6342/NTU201802765 |
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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