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| DC 欄位 | 值 | 語言 |
|---|---|---|
| dc.contributor.advisor | 陳達仁 | |
| dc.contributor.author | Chih-Han Yang | en |
| dc.contributor.author | 楊智涵 | zh_TW |
| dc.date.accessioned | 2021-07-11T14:45:06Z | - |
| dc.date.available | 2021-10-14 | |
| dc.date.copyright | 2016-10-14 | |
| dc.date.issued | 2016 | |
| dc.date.submitted | 2016-08-01 | |
| dc.identifier.citation | 1. Lu, Q., Ortega, C., & Ma, O. (2011). Passive gravity compensation mechanisms: technologies and applications. Recent Patents on Engineering, 5(1), 32-44.
2. French, M., & Widden, M. (2000). The spring-and-lever balancing mechanism, George Carwardine and the Anglepoise lamp. Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science, 214(3), 501-508. 3. Brown, G., & DiGuilio, A. O. (1980). Support apparatus. Google Patents. 4. Saluja, R., & Nagare, A. T. (1991). Counterbalanced arm for a lighthead. Google Patents. 5. Bell, W. R., Coon, D. C., & Peterson, T. M. (2001). Support arm for surgical light apparatus. Google Patents. 6. Banala, S. K., Agrawal, S. K., Fattah, A., Krishnamoorthy, V., Hsu, W.-L., Scholz, J., et al. (2006). Gravity-balancing leg orthosis and its performance evaluation. IEEE transactions on robotics, 22(6), 1228-1239. 7. Lin, P.-Y., Shieh, W.-B., & Chen, D.-Z. (2013). A theoretical study of weight-balanced mechanisms for design of spring assistive mobile arm support (MAS). Mechanism and Machine Theory, 61, 156-167. 8. Dunning, A., & Herder, J. A close-to-body 3-spring configuration for gravity balancing of the arm. In 2015 IEEE International Conference on Rehabilitation Robotics (ICORR), 2015 (pp. 464-469): IEEE 9. Tseng, T.-Y., Hsu, W.-C., Lin, L.-F., & Kuo, C.-H. Design and Experimental Evaluation of a Reconfigurable Gravity-Free Muscle Training Assistive Device for Lower-Limb Paralysis Patients. In ASME 2015 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, 2015 (pp. V05AT08A037-V005AT008A037): American Society of Mechanical Engineers 10. Simionescu, I., & Ciupitu, L. (2000). The static balancing of the industrial robot arms: part i: discrete balancing. Mechanism and Machine Theory, 35(9), 1287-1298. 11. Simionescu, I., & Ciupitu, L. (2000). The static balancing of the industrial robot arms: part II: continuous balancing. Mechanism and Machine Theory, 35(9), 1299-1311. 12. Liu, L., Huang, B., Zhu, Y. H., & Zhao, J. Optimization Design of Gravity Compensation System for a 5-DOF Articulated Heavy-Duty Robot. In Applied Mechanics and Materials, 2014 (Vol. 556, pp. 2359-2364): Trans Tech Publ 13. Arakelian, V. (2016). Gravity compensation in robotics. Advanced Robotics, 30(2), 79-96. 14. Wang, J., & Gosselin, C. M. (1999). Static balancing of spatial three-degree-of-freedom parallel mechanisms. Mechanism and Machine Theory, 34(3), 437-452. 15. Lessard, S., Bonev, I., Bigras, P., Briot, S., & Arakelyan, V. Optimum static balancing of the parallel robot for medical 3D-ultrasound imaging. In IFTOMM 2007: 12th World Congress in Mechanism and Machine Science, 2007 16. Nathan, R. (1985). A constant force generation mechanism. Journal of mechanisms, transmissions, and automation in design, 107(4), 508-512. 17. Rahman, T., Ramanathan, R., Seliktar, R., & Harwin, W. (1995). A simple technique to passively gravity-balance articulated mechanisms. Journal of Mechanical Design, 117(4), 655-658. 18. Agrawal, S. K., & Fattah, A. (2004). Gravity-balancing of spatial robotic manipulators. Mechanism and Machine Theory, 39(12), 1331-1344. 19. Agrawal, S. K., & Fattah, A. (2004). Theory and design of an orthotic device for full or partial gravity-balancing of a human leg during motion. IEEE Transactions on Neural Systems and Rehabilitation Engineering, 12(2), 157-165. 20. Fattah, A., & Agrawal, S. K. Gravity-balancing of classes of industrial robots. In Proceedings 2006 IEEE International Conference on Robotics and Automation, 2006. ICRA 2006., 2006 (pp. 2872-2877): IEEE 21. Deepak, S. R., & Ananthasuresh, G. Static balancing of spring-loaded planar revolute-joint linkages without auxiliary links. In 14th National Conference on Machines and Mechanisms, 2009 (pp. 17-18) 22. Deepak, S. R., & Ananthasuresh, G. (2012). Perfect static balance of linkages by addition of springs but not auxiliary bodies. Journal of mechanisms and robotics, 4(2), 021014. 23. Lin, P.-Y., Shieh, W.-B., & Chen, D.-Z. (2010). A stiffness matrix approach for the design of statically balanced planar articulated manipulators. Mechanism and Machine Theory, 45(12), 1877-1891. 24. Lin, P.-Y., Shieh, W.-B., & Chen, D.-Z. (2012). Design of statically balanced planar articulated manipulators with spring suspension. IEEE transactions on robotics, 28(1), 12-21. 25. Lee, Y.-Y., & Chen, D.-Z. (2014). Determination of spring installation configuration on statically balanced planar articulated manipulators. Mechanism and Machine Theory, 74, 319-336. 26. Sciavicco, L., & Siciliano, B. (2012). Modelling and control of robot manipulators: Springer Science & Business Media. | |
| dc.identifier.uri | http://tdr.lib.ntu.edu.tw/jspui/handle/123456789/78184 | - |
| dc.description.abstract | Statically balanced articulated manipulators are mechanisms which are able to self-balance effects of gravitational force caused by weight of the system itself within the workspace. Only relatively less actuating force is required to activate statically balanced mechanisms compared with general mechanisms. Hence, statically balanced mechanisms have advantages such as energy efficient and easily controlled for applications.
This paper presents a method to assess energy efficiency of statically balanced articulated manipulators. The gravitational and elastic potential energy is presented in quadratic form and arranged into the same representation of stiffness block matrices respectively. The spring configuration matrix specifies the attached links of installed springs and distribution of elastic potential energy in stiffness block matrix. Based on the concept of energy conservation and the stiffness block matrix, spring installation configurations are determined. The direction properties of elastic potential energy are aligned with or against the gravity can be further obtained. Elastic energy contributions providing effects aligned with gravity are redundant for static balance and regarded as negative contributions. Elastic energy contributions counteracting against gravity and redundant elastic effects are regarded as positive contributions. A qualitative efficiency index is proposed as the number ratio of positive elastic energy contributions to total elastic energy contributions. Furthermore, in the case that the magnitudes of gravitational energy contributions are taken into consideration, a quantitative efficiency index can be defined and proposed as the magnitude ratio of positive elastic energy contributions to total elastic energy contributions. The quantitative efficiency index indicates the proportion of elastic energy contributions assisting in static balance. Thus, the higher the quantitative efficiency index is, the better the energy efficiency the mechanism is. Energy efficiency of statically balanced articulated manipulators can be assessed according to the efficiency indexes. A design example is demonstrated to illustrate the practical uses of the efficiency indexes. The proposed methodology can be adopted to help designers to compare the energy efficiency among different statically spring-balanced mechanisms and obtain the most efficient one from energy perspective. | en |
| dc.description.provenance | Made available in DSpace on 2021-07-11T14:45:06Z (GMT). No. of bitstreams: 1 ntu-105-R03522606-1.pdf: 1507000 bytes, checksum: d5ae278c37c2bcc9adaea1507b791db3 (MD5) Previous issue date: 2016 | en |
| dc.description.tableofcontents | Chapter 1 Introduction 1
1.1 Background 1 1.2 Overview of related works 3 1.3 Motivation and preview 6 Chapter 2 Stiffness block matrix representation 9 2.1 Gravitational stiffness block matrix 9 2.2 Property of gravitational stiffness block matrix 12 2.3 Elastic stiffness block matrix 15 2.4 Property of elastic stiffness block matrix 18 Chapter 3 Spring installation configurations 22 3.1 Examination of energy counteraction from vector perspective 22 3.2 Characteristics for determination of spring installation configurations 24 3.3 Determination of spring attachment angles 29 Chapter 4 Qualitative efficiency index 34 4.1 Identification of energy contributions by spring installation configurations 34 4.2 Derivation of qualitative efficiency index 36 4.3 Comparison of energy efficiency of each spring 39 4.4 Comparison of energy efficiency by qualitative efficiency index 40 Chapter 5 Quantitative efficiency index 42 5.1 Derivation of quantitative efficiency index 42 5.2 Comparison of energy efficiency by quantitative efficiency index 48 Chapter 6 Design example 52 6.1 Articulated manipulator with equal link mass 52 6.2 Articulated manipulator with descending link mass 53 Chapter 7 Conclusions 58 Reference 60 | |
| dc.language.iso | en | |
| dc.subject | 彈簧 | zh_TW |
| dc.subject | 靜平衡 | zh_TW |
| dc.subject | 彈簧配置 | zh_TW |
| dc.subject | 能量效率 | zh_TW |
| dc.subject | Spring configuration | en |
| dc.subject | Spring | en |
| dc.subject | Static balance | en |
| dc.subject | Energy efficiency | en |
| dc.title | 彈簧靜平衡機構之能量效率分析 | zh_TW |
| dc.title | Energy Efficiency Assessment of Statically Spring-Balanced Articulated Manipulators | en |
| dc.type | Thesis | |
| dc.date.schoolyear | 104-2 | |
| dc.description.degree | 碩士 | |
| dc.contributor.oralexamcommittee | 吳宗明,黃中明 | |
| dc.subject.keyword | 彈簧,彈簧配置,靜平衡,能量效率, | zh_TW |
| dc.subject.keyword | Spring,Spring configuration,Static balance,Energy efficiency, | en |
| dc.relation.page | 61 | |
| dc.identifier.doi | 10.6342/NTU201601638 | |
| dc.rights.note | 有償授權 | |
| dc.date.accepted | 2016-08-01 | |
| 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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