臺灣博碩士論文加值系統

無奇異點工作空間為設計機器人時一個非常重要之參考指標，尤其是對於工作空間相對較小且空間中存在複雜奇異點之並聯式機器人更為重要。本文首先探討並聯式機器人之連桿參數以及操控性指數對於無奇異點軸位移空間大小之影響，並提出方法求得具有較大無奇異點軸位移空間之六自由度史都華型並聯式機器人。所提出方法可利用局部操控性指數及一些幾何特性系統化的搜尋到具有最大無奇異點軸位移空間之最佳設計。
本文之第二部份提出藉由連續剖面上之邊界曲線求得可連續運動方位工作空間之方法，此方法可預測形成臨近剖面上邊界曲線之方程式組合因此可迅速得到一並聯式機器人之可連續運動方位工作空間。最後以所提出之新方法以及現有求得可連續運動工作空間之方法探討六自由度並聯式機器人軸位移空間大小與工作空間或方位工作空間大小以及操控性之關係。研究結果發現軸位移空間之大小並不與工作空間或方位工作空間之大小成正比，而具有較大無奇異點工作空間機器人之操控性相對較差，因此本文將研究集中於如何設計具有較大無奇異點工作空間並同時具有較佳操控性之六自由度並聯式機器人。

Singularity-free workspace is a very important criterion for the design of manipulators, especially for parallel manipulators which are well known for their limited workspace and complex singularities. This thesis first studies geometric parameters and dexterity measures that affect the size of a singularity-free joint space, and proposes methods for the development of 6-DOF Stewart-Gough parallel manipulators that have better singularity-free joint space. Using local dexterity measures and some geometric properties, a systematic method is developed to search for the design with maximal singularity-free joint space.
The second part of this work presents algorithms for determining the compatible orientation workspace of 6-DOF parallel manipulators. The orientation workspace is developed through boundary curves on two-dimensional cross-sections. Methods for predicting possible constraint equations for the boundary curves of neighboring sections are proposed to facilitate the evaluation process. The proposed methods along with an existing method for developing the compatible reachable workspace are then employed to investigate the relationships among the size of joint space, the size of reachable or orientation workspace and the dexterity of 6-DOF parallel manipulators. The results show that the workspace is not proportional to the size of the joint space, and that manipulators with a larger singularity-free workspace usually have relatively poor dexterity. Therefore, the methods presented in this work focus on how to develop manipulators with a larger singularity-free workspace and better dexterity.

目錄
中文摘要 I
英文摘要 II
誌 謝 IV
目 錄 V
圖表索引 VIII
第一章 緒論 1
1.1 文獻回顧 4
1.2 研究動機 7
1.3 論文架構 10
第二章 理論基礎 12
2.1 六自由度並聯式機器人 12
2.1.1 靜力分析矩陣 13
2.2 反位移分析 17
2.3 正位移分析 18
2.4 牛頓迭代法 19
第三章 最大無奇異點軸位移空間 22
3.1 操控性指數 22
3.2 搜尋軸位移空間 25
3.2.1 利用最佳化搜尋軸位移空間之方法 30
3.2.2 操控性指數與最大的無奇異點之連桿軸位移量 34
3.3 行列式值與最佳設計 36
3.4 小結 45
第四章 並聯式機器人之方位工作空間 46
4.1 連桿之軸位移拘束方程式 46
4.2 球窩接頭旋轉角度限制之拘束方程式 48
4.3 連桿間干涉之拘束方程式 49
4.4 產生方位工作空間的邊界 54
4.5 方位工作空間邊界曲線之轉換 63
4.6 球窩接頭與連桿干涉限制下所形成的方位工作空間 67
4.7 方位工作空間邊界曲線之求解與繪圖法 69
4.7.1邊界曲線繪圖法 69
4.7.2方位工作空間完整邊界繪圖法 72
4.7.3方位工作空間邊界之計算 81
4.8 數值範例 85
4.9 小結 91
第五章 最佳化設計 92
5.1 工作空間 92
5.1.1圓柱座標邊界繪製法 92
5.1.2 工作空間邊界曲面 94
5.1.3工作空間之體積計算 101
5.2 方位工作空間與工作空間 103
5.3 小結 108
第六章 結論與建議 109
參考文獻 113
作者簡介 118

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