請用此 Handle URI 來引用此文件：
http://tdr.lib.ntu.edu.tw/jspui/handle/123456789/86409完整後設資料紀錄
| DC 欄位 | 值 | 語言 |
|---|---|---|
| dc.contributor.advisor | 李志中 | zh_TW |
| dc.contributor.advisor | Jyh-Jone Lee | en |
| dc.contributor.author | 何旻致 | zh_TW |
| dc.contributor.author | Min-Zh Ho | en |
| dc.date.accessioned | 2023-03-19T23:54:08Z | - |
| dc.date.available | 2023-12-26 | - |
| dc.date.copyright | 2022-08-26 | - |
| dc.date.issued | 2022 | - |
| dc.date.submitted | 2002-01-01 | - |
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| dc.identifier.uri | http://tdr.lib.ntu.edu.tw/jspui/handle/123456789/86409 | - |
| dc.description.abstract | 可調定力機構(Adjustable Constant Force Mechanism, ACFM)可以在有效輸入位移範圍內，產生幾乎不變的恆定輸出力，並且可調整恆定輸出力的大小。本研究將可調定力機構應用於氣動夾爪上，使夾爪能夠調整夾力夾取各類型物件，並且所產生的恆定夾持力不受物體大小的影響，讓夾持力調整更簡單。首先，本研究提出由無段變速器和動力發條組合而成的可調定力機構，此組合具有恆定力範圍長及可調力範圍廣的優點。另外，本研究為動力發條設計預負載機構，讓發條可以預先轉動到恆定扭矩區間。接著根據設計需求設計傳動機構，然後和可調定力機構整合成夾持力調整機構，緊接著建立夾持力調整機構的理論模型，最後製造原型進行測試實驗。 | zh_TW |
| dc.description.abstract | An adjustable constant force mechanism (ACFM) is a mechanism that can generate a near-constant output force over the effective input displacement range as well as adjust the value of the constant output force. In this study, an adjustable constant force mechanism is developed to apply to a pneumatic gripper, so that the gripper can adjust the gripping force to grip various types of objects. Moreover, the adjustable constant gripping force is independent of object size, which makes the adjustment of the gripping force easier. For the development, we first propose an adjustable constant force mechanism which combines a continuously variable transmission and a power spring. This combination has a long constant force region and a wide adjustable force range. We also design a preload mechanism for the power spring, making the power spring can be preloaded to the constant torque region. Then, the transmission mechanism is added according to the design requirements and then integrated with the adjustable constant force mechanism to form an adjustable gripping force mechanism. Next, establish the theoretical model of the adjustable gripping force mechanism. Finally, a prototype is built up to validate the function of the proposed mechanism. | en |
| dc.description.provenance | Made available in DSpace on 2023-03-19T23:54:08Z (GMT). No. of bitstreams: 1 U0001-2208202213231900.pdf: 4458903 bytes, checksum: a39e27cd3fc174f0dca3307d673224c8 (MD5) Previous issue date: 2022 | en |
| dc.description.tableofcontents | 論文口試委員審定書 ii 誌謝 iii 摘要 iv Abstract v 目錄 vi 圖目錄 x 表目錄 xiii 第一章 緒論 1 1.1 研究背景 1 1.2 文獻回顧 2 1.2.1 形狀適應夾爪 2 1.2.2 調整夾爪夾持力 6 1.3 研究動機與目的 8 1.4 本文架構 9 第二章 力調整機構之類型與原理 10 2.1 前言 10 2.2 力調整機構介紹 10 2.2.1 串聯彈性致動器 10 2.2.2 可變剛性致動器 12 2.2.3 可調定力機構 13 2.2.4 小結 14 2.3 可調定力機構原理和比較 15 第三章 機構設計 17 3.1 前言 17 3.2 可變傳動比機構 18 3.3 定扭力機構 23 3.3.1 定扭力發條 24 3.3.2 動力發條 27 3.3.3 定扭力發條和動力發條比較 29 3.3.4 預負載機構 30 3.4 夾持動作的傳動-傳動機構 32 3.5 機構示意圖與工作原理 34 3.6 夾持力與傳動比分析 37 3.6.1 夾持力分析 37 3.6.2 滑塊傳動比 41 3.6.3 最大發條旋轉角度 43 3.7 機構構造說明 44 第四章 測試與驗證 48 4.1 前言 48 4.2 定扭力機構扭矩實驗 48 4.2.1 實驗平台 48 4.2.2 實驗步驟 50 4.2.3 實驗結果 51 4.3 夾爪夾持力實驗 52 4.3.1 實驗平台 52 4.3.2 實驗步驟 54 4.3.3 實驗結果 54 4.3.4 夾持力調整機構問題 57 第五章 結論與未來展望 59 5.1 結論 59 5.2 未來展望 60 參考文獻 61 附錄A 工程圖 67 附錄B 可調定力機構實驗 69 B.1. 實驗平台 69 B.2. 實驗步驟 71 B.3. 理論輸出力計算 71 B.4. 實驗結果 72 | - |
| dc.language.iso | zh_TW | - |
| dc.subject | 可調定力機構 | zh_TW |
| dc.subject | 夾持力控制 | zh_TW |
| dc.subject | 可調定力機構 | zh_TW |
| dc.subject | 機械夾爪 | zh_TW |
| dc.subject | 機械夾爪 | zh_TW |
| dc.subject | 夾持力控制 | zh_TW |
| dc.subject | 無段變速器 | zh_TW |
| dc.subject | 無段變速器 | zh_TW |
| dc.subject | Gripping force control | en |
| dc.subject | Adjustable constant force mechanism | en |
| dc.subject | Continuously variable transmission | en |
| dc.subject | Robotic gripper | en |
| dc.subject | Robotic gripper | en |
| dc.subject | Gripping force control | en |
| dc.subject | Continuously variable transmission | en |
| dc.subject | Adjustable constant force mechanism | en |
| dc.title | 一種用於平行氣動夾爪可調定夾持力機構之設計 | zh_TW |
| dc.title | Design of an Adjustable Constant Grasping Force Device for Parallel Pneumatic Grippers | en |
| dc.type | Thesis | - |
| dc.date.schoolyear | 110-2 | - |
| dc.description.degree | 碩士 | - |
| dc.contributor.oralexamcommittee | 林正平;徐冠倫 | zh_TW |
| dc.contributor.oralexamcommittee | Chang-Pin Lin;Kuan-Lun Hsu | en |
| dc.subject.keyword | 可調定力機構,無段變速器,夾持力控制,機械夾爪, | zh_TW |
| dc.subject.keyword | Adjustable constant force mechanism,Continuously variable transmission,Gripping force control,Robotic gripper, | en |
| dc.relation.page | 75 | - |
| dc.identifier.doi | 10.6342/NTU202202642 | - |
| dc.rights.note | 同意授權(全球公開) | - |
| dc.date.accepted | 2022-08-22 | - |
| dc.contributor.author-college | 工學院 | - |
| dc.contributor.author-dept | 機械工程學系 | - |
| dc.date.embargo-lift | 2024-08-22 | - |
| 顯示於系所單位： | 機械工程學系 | |
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| ntu-110-2.pdf | 4.35 MB | Adobe PDF | 檢視/開啟 |
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