臺灣博碩士論文加值系統

本文乃針對一三連桿的關節式機械手臂（articulated robot）在加工時，所做的運動誤差分析與路徑規劃，並藉由模擬的方式來判定誤差及方向。所模擬的過程包含定位誤差的分析，方向軌跡的規劃，資料擷取，藉由判斷工作空間中各區域的誤差方向，再針對不同的加工路線於適當的區域進行加工使誤差降低，讓加工更為精確。另外，基於資料擷取的概念，也可採用在切削加工機上，建立一套資料庫，對於電腦輔助製造是一大助益。

This paper presents motion analysis and path scheduling to determine error and direction by using simulated way when a articulated manipulator of three links machining. The process includes position error analysis, direction scheduling, data extraction, and additional part feeder so that the previous error can be introduced to improve the accuracy. Comparing with the original path, the approximated errors can be reduced by the inverted scheme. On the basis of the concept of data extraction, we also establish a data base, which is a benefit for CAM for cutting manufacture.

中文摘要 i
英文摘要 ii
目錄 iii
圖目錄 v
第一章 緒論 1
1.1 前言 1
1.2 參考文獻 2
1.3 論文架構 3
第二章 機械手臂之理論基礎與運動原理 4
2.1 機械手臂基本運動原理 4
2.2 運動方程式的推導 5
2.3 反運動學(Inverse kinematics) 8
2.4 ARTICULATED ROBOT機構的運算 9
2.5 ARTICULATED ROBOT機構誤差分析 12
2.6 實例運算 16
第三章 運動誤差之分析與路徑規劃 20
3.1 定位運動誤差分析 20
3.2軌跡運動 23
第四章 結論與展望 33

參考文獻
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