請用此 Handle URI 來引用此文件：
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| DC 欄位 | 值 | 語言 |
|---|---|---|
| dc.contributor.advisor | 李志中(Jyh-Jone Lee) | |
| dc.contributor.author | Chung-Wei Tseng | en |
| dc.contributor.author | 曾仲暐 | zh_TW |
| dc.date.accessioned | 2021-05-20T00:51:48Z | - |
| dc.date.available | 2025-08-12 | |
| dc.date.available | 2021-05-20T00:51:48Z | - |
| dc.date.copyright | 2020-08-26 | |
| dc.date.issued | 2020 | |
| dc.date.submitted | 2020-08-12 | |
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| dc.identifier.uri | http://tdr.lib.ntu.edu.tw/jspui/handle/123456789/8309 | - |
| dc.description.abstract | 近年來自動化技術逐漸普及，機器人的任務不再只是針對單一工件進行夾取，它必須面對更多不同材質、大小的工件或是日常生活中的物品，甚至是對未知的物件做夾取。也因此具有順從性的機械手或是能夠改變夾持力的裝置已成為目前重要的研究方向。本研究提出一種調整平行氣動夾爪夾持力之機構，透過改變機構的剛性，對二指夾爪的夾持力進行控制。首先，本文針對現有的順從性機械夾爪進行分析，歸納出其設計目的及需求。接著介紹順從性致動器的原理且整理控制剛性的方法，並分析各方法之優劣，再根據本文的設計需求進行動力傳遞機構與剛性調整機構的設計。緊接著建立夾持力調整機構的理論模型。最後架設實驗平台進行夾持力的量測，以驗證機構可行性，最後分析誤差來源並且修正夾持力機構之理論模型。 | zh_TW |
| dc.description.abstract | With the growth of industrial automation in recent years, the grasping task of robots become more variable and complex. Therefore, a compliant manipulator or grasping force control has become a popular research topic. In this research, a device for adjusting the grasping force of parallel pneumatic grippers is presented. The grasping force can be controlled by adjusting the stiffness of the mechanism. This research elaborates the existing compliant grippers and summarizes their characteristics and design requirements. The principle of the compliant actuator and the stiffness control are introduced. Then the transmission mechanism and the stiffness control mechanism are proposed based on the functional requirement. The theoretical model of the adjustable grasping force device is established and a prototype is manufactured. Furthermore, the properties of the design are validated with the experiments and the errors of the experiments are discussed. | en |
| dc.description.provenance | Made available in DSpace on 2021-05-20T00:51:48Z (GMT). No. of bitstreams: 1 U0001-0608202013144000.pdf: 4924049 bytes, checksum: 7aacf978db912deaa0ae510f9157ced6 (MD5) Previous issue date: 2020 | en |
| dc.description.tableofcontents | 誌謝 i 摘要 ii Abstract iii 目錄 iv 圖目錄 vii 表目錄 x 第一章 緒論 1 1.1 研究背景 1 1.2 文獻回顧 2 1.2.1 萬用型夾爪 2 1.2.2 調整夾持力 6 1.3 研究動機與目的 10 1.4 本文架構 11 第二章 可調整剛性機構之類型與其原理 12 2.1 前言 12 2.2 剛性調整機構介紹 12 2.2.1 順從性致動器 12 2.2.2 機構剛性 13 2.3 可變剛性致動器 14 2.4 槓桿原理機構 17 2.4.1 工作原理 17 2.4.2 靜力分析 19 第三章 機構設計 26 3.1 前言 26 3.2 夾持力調整機構設計 26 3.2.1 動力傳遞機構 26 3.2.2 機構簡圖 29 3.3 夾持力調整機構之工作原理 30 3.4 夾持力分析 32 3.4.1 靜力分析 32 3.4.2 角度計算 35 3.4.3 夾持力-物體大小-支點位置關係圖 36 3.4.4 彈簧壓縮量之驗證 38 3.5 機構設計 41 第四章 測試與驗證 43 4.1 前言 43 4.2 夾持力控制系統 43 4.2.1 步進馬達 43 4.2.2 支點位置控制 44 4.3 感測系統 46 4.3.1 壓力感測片 46 4.3.2 非反向放大器 48 4.3.3 感測電路 49 4.4 壓力感測片校準實驗 50 4.4.1 校準實驗步驟 50 4.4.2 實驗裝置 51 4.4.3 校準結果 52 4.5 靜態夾持力量測 53 4.5.1 量測平台 53 4.5.2 數據分析 56 4.6 誤差分析與模型修正 59 4.7 小結 62 第五章 結論與未來展望 63 5.1 結論 63 5.2 未來展望 64 參考文獻 65 附錄一 加工件表 71 附錄二 加工件工程圖 72 | |
| dc.language.iso | zh-TW | |
| dc.title | 用於平行氣動夾爪夾持力調整裝置之設計 | zh_TW |
| dc.title | Design of an Adjustable Grasping Force Device for Parallel Pneumatic Grippers | en |
| dc.type | Thesis | |
| dc.date.schoolyear | 108-2 | |
| dc.description.degree | 碩士 | |
| dc.contributor.oralexamcommittee | 林鎮洲(Chen-Chou Lin),蔡錫錚(Shyi-Jeng Tsai) | |
| dc.subject.keyword | 夾持力控制,機械夾爪,槓桿機構,可調整剛性致動器,順從性致動器, | zh_TW |
| dc.subject.keyword | Grasping force control,robotic gripper,lever mechanism,variable stiffness actuator,compliant actuator, | en |
| dc.relation.page | 79 | |
| dc.identifier.doi | 10.6342/NTU202002527 | |
| dc.rights.note | 同意授權(全球公開) | |
| dc.date.accepted | 2020-08-13 | |
| dc.contributor.author-college | 工學院 | zh_TW |
| dc.contributor.author-dept | 機械工程學研究所 | zh_TW |
| dc.date.embargo-lift | 2025-08-12 | - |
| 顯示於系所單位： | 機械工程學系 | |
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| U0001-0608202013144000.pdf | 4.81 MB | Adobe PDF | 檢視/開啟 |
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