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完整後設資料紀錄
DC 欄位 | 值 | 語言 |
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dc.contributor.advisor | 蘇偉儁(Wei-Jiun Su) | |
dc.contributor.advisor | 蘇偉儁(Wei-Jiun Su | weijiunsu@ntu.edu.tw | ), | |
dc.contributor.author | Yu-Jie Lin | en |
dc.contributor.author | 林于傑 | zh_TW |
dc.date.accessioned | 2023-03-19T23:41:02Z | - |
dc.date.copyright | 2022-09-12 | |
dc.date.issued | 2022 | |
dc.date.submitted | 2022-09-05 | |
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Romdhane, and S. Zeghloul, 'Clearance and manufacturing errors' effects on the accuracy of the 3-RCC Spherical Parallel Manipulator,' European Journal of Mechanics-A/Solids, vol. 37, pp. 86-95, 2013. [10]F. Azadivar, 'The effect of joint position errors of industrial robots on their performance in manufacturing operations,' IEEE Journal on Robotics and Automation, vol. 3, no. 2, pp. 109-114, 1987. [11]S. Lee, B. Gilmore, and M. Ogot, 'Dimensional tolerance allocation of stochastic dynamic mechanical systems through performance and sensitivity analysis,' Journal of Mechanical Design, vol. 115, no. 3, pp. 392-402, 1993. [12]J. Zhu and K.-L. Ting, 'Uncertainty analysis of planar and spatial robots with joint clearances,' Mechanism and Machine theory, vol. 35, no. 9, pp. 1239-1256, 2000. [13]W. Wu and S. Rao, 'Interval approach for the modeling of tolerances and clearances in mechanism analysis,' Journal of Mechanical Design, vol. 126, no. 4, pp. 581-592, 2004. [14]C. Innocenti, 'Kinematic clearance sensitivity analysis of spatial structures with revolute joints,' Journal of Mechanical Design, vol. 124, no. 1, pp. 52-57, 2002. [15]M.-J. Tsai and T.-H. Lai, 'Kinematic sensitivity analysis of linkage with joint clearance based on transmission quality,' Mechanism and Machine Theory, vol. 39, no. 11, pp. 1189-1206, 2004. [16]M.-J. Tsai and T.-H. Lai, 'Accuracy analysis of a multi-loop linkage with joint clearances,' Mechanism and Machine Theory, vol. 43, no. 9, pp. 1141-1157, 2008. [17]N. Binaud, P. Cardou, S. p. Caro, and P. Wenger, 'The kinematic sensitivity of robotic manipulators to joint clearances,' in ASME 2010 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, Montreal, Quebec, Canada, 2010, vol. Volume 2: 34th Annual Mechanisms and Robotics Conference, Parts A and B, pp. 1371-1380. [18]S. Venanzi and V. Parenti-Castelli, 'A new technique for clearance influence analysis in spatial mechanisms,' Journal of Mechanical Design, vol. 127, no. 3, pp. 446-455, 2004. [19]Z. Huang, 'Error analysis of position and orientation in robot manipulators,' Mechanism and machine theory, vol. 22, no. 6, pp. 577-581, 1987. [20]B. Benhabib, R. Fenton, and A. Goldenberg, 'Computer-aided joint error analysis of robots,' IEEE Journal on Robotics and Automation, vol. 3, no. 4, pp. 317-322, 1987. [21]K.-L. Ting, J. Zhu, and D. Watkins, 'The effects of joint clearance on position and orientation deviation of linkages and manipulators,' Mechanism and Machine Theory, vol. 35, no. 3, pp. 391-401, 2000. [22]C. L. Chan and K.-L. Ting, 'Clearance-Induced Orientation Uncertainty of Spherical Linkages,' Journal of Mechanisms and Robotics, vol. 13, no. 2, p. 021021, 2021. [23]H. Wang and B. Roth, 'Position errors due to clearances in journal bearings,' Journal of Mechanisms, Transmissions, and Automation in Design, vol. 111, no. 3, pp. 315-320, 1989. [24]A. Chebbi, Y. Chouaibi, Z. Affi, and L. Romdhane, 'Sensitivity analysis and prediction of the orientation error of a three translational parallel manipulator,' Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science, vol. 232, no. 1, pp. 140-161, 2018. [25]J. Yang, L. Jin, Z. Han, D. Zhao, and M. Hu, 'Sensitivity analysis of factors affecting motion reliability of manipulator and fault diagnosis based on kernel principal component analysis,' Robotica, vol. 40, no. 8, pp. 2547-2566, 2022. [26]J. Denavit and R. S. Hartenberg, 'A kinematic notation for lower-pair mechanisms based on matrices,' Journal of Applied Mechanics, vol. 22, no. 2, pp. 215-221, 1955. [27]M. Sundararajan, A. Taly, and Q. Yan, 'Gradients of counterfactuals,' arXiv preprint arXiv:1611.02639, 2016. [28]陳麒翔(2020)。球型連桿手術機器人機構之開發與靜平衡設計。國立臺灣大學機械工程學研究所碩士論文,台北市。 取自https://hdl.handle.net/11296/8bzy54 [29] C. Wu, X.-J. Liu, L. Wang, and J. Wang, 'Optimal design of spherical 5R parallel manipulators considering the motion/force transmissibility,' Journal of Mechanical Design, vol. 132, no. 3, p. 031002, 2010. [30]K.-L. Hsu and P.-Y. Lai, 'Kinematic and mechanical error analysis of serial spherical linkages using a modular approach,' Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science, vol. 236, no. 17, pp. 9504-9526, 2022. | |
dc.identifier.uri | http://tdr.lib.ntu.edu.tw/jspui/handle/123456789/86185 | - |
dc.description.abstract | 由於手術機器人的定位精度對病患安全至關重要,因此設計過程中,需要控制各個誤差來源的範圍。在眾多的誤差來源中,接頭間隙對定位精度造成的影響更甚於組裝誤差以及加工誤差,因為接頭間隙造成的誤差受到端效器受力影響,難以利用校準改善,因此本文將著重在接頭間隙對定位精度的影響。間隙由於受到接頭幾何限制,因此可以推算轉軸坐標系與軸承坐標系兩者之間位移以及旋轉的最大值,進一步結合順向運動學以及最佳化,求得端效器在不同方向的最大誤差。但是執行一次最佳化僅能獲取手術機器人在一個姿勢下的最大誤差,無法確保在手術範圍內,手術機器人的設計公差可以達到精度要求。此外,無法達成精度要求時,各個旋轉接頭的幾何限制對於定位精度的影響是未知的,因此需要多次調整公差來改善定位精度。針對上述問題,本文使用最佳化取得不同姿勢下的最大誤差後,將各個幾何限制以及機械手臂姿勢作為輸入,最大誤差作為輸出,利用機器學習擬合兩者的關係函數,並進一步透過機器學習模型分析各個接頭幾何限制以及姿勢對定位精度的影響力,利用敏感度分析結果作為之後調整的依據。本文以球型連桿之手術機器人作為範例,根據分析結果並聯機構的誤差表現並不完全優於串聯機構,與[1]中的分析結果相同,並聯機構並不全然能限制端接器誤差。此外,就工作空間中最大位移誤差而言,肩關節的間隙影響力大於肘關節的間隙。 | zh_TW |
dc.description.abstract | Positioning accuracy of surgical robots is critical to patient safety during surgery. Hence, it is necessary to control different error sources in design phase. Among various error sources, clearance shows stronger influence on positioning accuracy than assembly error and manufacturing error. The reason is that positioning error caused by clearance is affected by resultant force on end-effector, and it is difficult to resolve this problem with calibration. Therefore, this thesis focuses on how clearance influences positioning error of a surgical robot. Clearance error is constrained by joint geometry. Therefore, the maximum translation and rotation between frames attached to shaft and bearing can be obtained. In combination with forward kinematics and optimization, the maximum positioning error in different directions can be derived. However, conducting optimization once can only provide the maximum error at a certain pose. It doesn’t guarantee that the surgical robot meets positioning accuracy in workspace. Besides, the relation between different joint geometry constraints and positioning accuracy is unknown, and thus, engineers have to make several adjustments to improve positioning accuracy. Due to aforementioned reasons, a method based on machine learning is proposed to find the relation between various joint geometry constraints and positioning accuracy. It takes the value of joint geometry constraints and maximum error as input and output, respectively. Furthermore, the machine learning model is used to analyze the influence of geometry constraints on positioning error, that is, the sensitivity analysis of surgical robot to geometry constraints is presented and it can be viewed as a guideline on joint tolerance adjustment. Spherical linkage based surgical robot is taken as an example in the thesis. On the basis of the analysis result, the positioning error of parallel mechanism in the workspace is not completely lower than serial mechanism, which is same as the conclusion in [1]. This phenomenon indicates that parallel surgical robot can’t constrain end-effector error in some poses. In addition, clearance of shoulder joints affects maximum translation error more than one of elbow joints. | en |
dc.description.provenance | Made available in DSpace on 2023-03-19T23:41:02Z (GMT). No. of bitstreams: 1 U0001-0409202218360200.pdf: 4368321 bytes, checksum: 8d4efddd49fbc1dea90b1e6ca99aaf4c (MD5) Previous issue date: 2022 | en |
dc.description.tableofcontents | 口試委員會審定書 # 誌謝 i 中文摘要 ii ABSTRACT iii 目錄 v 圖目錄 viii 表目錄 xi 符號表 xii Chapter 1 緒論 1 1.1 前言 1 1.2 研究動機與方法 2 1.3 文獻回顧 3 1.4 論文架構 7 Chapter 2 誤差分析模型 8 2.1 接頭間隙 8 2.2 接頭幾何限制 10 2.3 端接器誤差 11 2.4 求取最大端接器誤差 14 Chapter 3 敏感度分析 18 3.1 類神經網路 18 3.2 敏感度分析 20 Chapter 4 機構介紹 22 4.1 機構簡介 22 4.2 機構坐標系配置 24 4.3 運動學分析 28 4.3.1 逆向運動學 28 4.3.2 順向運動學 31 Chapter 5 結果驗證與討論 32 5.1 最大端接器誤差模擬參數 32 5.1.1 機構型態 32 5.1.2 接頭公差組合 34 5.1.3 工作空間 36 5.2 端接器誤差驗證 37 5.3 最大端接器誤差結果 40 5.3.1 最大旋轉誤差 40 5.3.2 最大位移誤差 49 5.4 敏感度分析 61 5.4.1 旋轉敏感度分析 61 5.4.2 位移敏感度分析 65 Chapter 6 結論與未來展望 70 6.1 結論 70 6.2 未來展望 71 參考文獻 72 附錄A Simulink手術機器人模塊圖 75 | |
dc.language.iso | zh-TW | |
dc.title | 基於球形連桿之手術機器人的誤差與敏感度分析 | zh_TW |
dc.title | Error and Sensitivity Analysis of a Spherical Linkage Based Surgical Robot | en |
dc.type | Thesis | |
dc.date.schoolyear | 110-2 | |
dc.description.degree | 碩士 | |
dc.contributor.oralexamcommittee | 詹魁元(Kuei-Yuan Chan),徐冠倫(Kuan-Lun Hsu) | |
dc.subject.keyword | 手術機器人,間隙誤差,敏感度分析,球形連桿, | zh_TW |
dc.subject.keyword | surgical robot,clearance error,sensitivity analysis,spherical linkage, | en |
dc.relation.page | 75 | |
dc.identifier.doi | 10.6342/NTU202203132 | |
dc.rights.note | 同意授權(全球公開) | |
dc.date.accepted | 2022-09-05 | |
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 | 2022-09-12 | - |
顯示於系所單位: | 機械工程學系 |
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