臺灣博碩士論文加值系統

六軸平台為一並聯式機器，其結構是由可動平台、底座，以及六根可以改變長度之伺服電動缸連結而成。由於六軸平台具閉迴路結構，因此有高精度、高剛性和構形簡單等優點。
本論文主要是設計一新型六軸平台。分析六軸平台的運動學，工作空間和動態。並且利用ADAMS來模擬結果、MATLAB來設計計算程式，用實際平台來證明其精準性。在運動學中，推導出順向運動學和逆向運動學。在工作空間，計算出用平台規格來求出伺服電動缸的伸長量。以及在最後計算出平台所需的最大力量。透過此研究，就能更快更有效率的完成六軸平台的製造與設計

Six-axis platforms are a type of parallel mechanism which are constructed with six struts between the base and the platform. The lengths of the six struts are changed by their servo-electric cylinder . Using this kind of closed loop mechanism for designing a six-DOF motion system has several advantages, such as possible higher precision, stiffness, and more simpler structure.
The thesis is mainly procedure in designing a new type of six-axis platform. It investigates about the analysis of kinematic, workspace, and dynamic of the six-axis platform. Then we compare the simulation of ADAMS and the theory of MATLAB to build a complete design procedure and to prove the accuracy by the actual platform. In the kinematics, we calculate the forward kinematics and inverse kinematics. In the working space, we have calculated with platform specifications to find the electric servo cylinder elongation. Finally, we calculate the maximum force required for platform.from this research, we can finish the design and manufacture of the six-axis platform more fast and efficient to cut down the cost.

中文摘要 i
英文摘要 ii
誌謝 iii
目錄 iv
表目錄 vi
圖目錄 viii
符號說明 xi

第一章 緒論 1
1-1 研究動機 1
1-2 文獻回顧 2
1-3 論文架構 3

第二章 伺服電動缸六軸平台簡介 4
2-1 伺服電動缸六軸平台之機構 4
2-2 六軸平台規範 5
2-3 串並聯機構比較與分析 7

第三章 六軸平台之運動學分析 8
3-1六軸平台之幾何型態 8
3-2 逆向運動學推導 12
3-2-1 逆向運動學計算 14
3-3 順向運動學推導 20
3-3-1 順向運動學計算 24

第四章 伺服電動缸六軸平台工作空間模擬分析 28
4-1 六軸平台的工作空間 28
4-2 伺服電動缸行程模擬分析推導 28
4-3 伺服電動缸行程計算 31
4-4 伺服電動缸行程模擬 33


第五章 伺服電動缸六軸平台之力學分析 44
5-1 伺服電動缸力學推導 44
5-2 六軸平台之靜態力 49
5-3 六軸平台之動態力 57
5-3-1 六軸平台位移之動態力 57
5-3-2 六軸平台旋轉之動態力 74
5-4 伺服電動缸之最大受力負載 85

第六章 結論與未來展望 87
6-1 結論 87
6-2 未來展望 88

參考文獻 89
自傳 90

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