臺灣博碩士論文加值系統

本研究利用拓樸與尺寸最佳化演算法來設計機械利益最大化之自適性撓性夾爪。自適性撓性夾爪是一種可適應不同外形的被夾取物體之撓性機構。機械利益則是輸出力與輸入力之比值，機械利益越高表示機構在相同輸入力的情況下可提供較高的輸出力。在拓樸最佳化設計部分，本研究使用反向型雙向演進式拓樸最佳化方法，此方法可以快速且穩定的設計低體積率之撓性機構，其目標函數採用複合應變能函數，此方法可同時以撓性機構的機械利益與幾何利益(輸出位移與輸入位移之比值)為目標進行設計。在尺寸最佳化設計部分，本研究使用增廣拉格朗日乘數法搭配單形法，此方法可使用少量運算次數解決多變數多限制式的最佳化問題，此方法以機械利益最大化為目標函數。本研究依據各種不同的設計組合與評估標準，最終挑選出三組夾爪(ACGS1、ACGS2與ACGS3夾爪)進行試做驗證。並進行了機械利益實驗、幾何利益實驗、自適性實驗、夾持實驗與負載實驗，並與另外二組現有的自適性撓性夾爪相比較，並定義一夾爪效能函數做為判斷夾爪性能之準則。綜合前述各項實驗結果顯示本研究所設計之ACGS2夾爪是五個夾爪之中效能最優良的夾爪，此夾爪具備較快的夾合速度、良好的自適性，與充足的夾持力。此自適性撓性夾爪可搭配工業機器人或機器手臂使用，可有效的降低成本、促進產業自動化並增進生產效能。

This study presents a systematic optimal design procedure to develop an adaptive compliant gripper (ACG) for grasping objects with various sizes and shapes. A soft-add topology optimization algorithm, reversed bi-directional evolutionary structural optimization (RBESO) considering both geometric advantage and mechanical advantage of the analyzed compliant mechanism, is developed to synthesize the optimal layout of the ACG with better computational efficiency. One special characteristic of the proposed method is that the elements are equivalent to be numerically added into the analysis domain. As the target volume fraction in topology optimization for the analyzed compliant mechanism is usually below 30% of the initial design domain, the traditional methods which remove elements from 100% become inefficient. A size optimization procedure by using a mixed method combing Augmented Lagrange Multiplier (ALM) method and Simplex method is also proposed to maximize the mechanical advantage of the ACG. After the optimal design is obtained, both finite element analysis and experimental tests are carried out to analyze the design. Five ACGs are prototyped using silicon rubber. A performance index for grasping objects with ACGs has also been proposed to evaluate the grasping performance of various designs. The results show the developed ACGS2 gripper is with the highest performance index, which represents the gripper is with better adaptability, faster response, higher payload and stability in overall. The outcomes of this study provide numerical methods for design and analysis of adaptive compliant mechanisms with large deformation and contact nonlinearity, as well as to develop an innovative compliant gripper for grasping objects with geometric inconsistency.

摘要 i
ABSTRACT ii
誌謝 x
目錄 xi
表目錄 xiv
圖目錄 xvi
符號說明 xxi
第一章 緒論 1
1-1 自適性撓性夾爪簡介 1
1-2 結構最佳化文獻回顧 4
1-2-1 拓樸最佳化文獻回顧 6
1-2-2 尺寸最佳化文獻回顧 9
1-3 研究目的 10
1-4 本文架構 11
第二章 結構最佳化理論 12
2-1 前言 12
2-2 拓樸最佳化理論介紹 12
2-2-1 設計區間、邊界條件與有限元素分析 14
2-2-2 元素靈敏度 15
2-2-3 二分法與收斂準則 18
2-3 拓樸最佳化設計目標函數 21
2-3-1 對應單一輸出之目標函數介紹 22
2-3-2 對應雙輸出之目標函數介紹 28
2-3-3 對應三輸出之目標函數介紹 32
2-4 尺寸最佳化理論介紹 36
2-4-1 尺寸最佳化目標函數 38
2-4-2 增廣拉格朗日乘數法 39
2-4-3 單形法 42
2-5 本章小結 47
第三章 自適性撓性夾爪設計與分析 48
3-1 前言 48
3-2 撓性機構拓樸最佳化範例 49
3-2-1 範例一:反向機構(Inverter mechanism) 50
3-2-2 範例二:夾合機構(Crunching mechanism) 54
3-3 自適性撓性夾爪拓樸最佳化設計 58
3-3-1 邊界條件介紹 59
3-3-2 參數測試 62
3-3-3 各邊界條件之拓樸設計 68
3-3-4 梯型設計區間與其拓樸設計 78
3-4 拓樸最佳化結果與分析 89
3-4-1 挑選準則與挑選結果 89
3-4-2 分析模擬與拓樸最佳化結果 92
3-5 尺寸最佳化設計 99
3-5-1 參數模型設計 101
3-5-2 尺寸最佳化設計條件與過程 113
3-6 尺寸最佳化結果與分析 115
3-7 本章小結 129
第四章 試做與驗證 131
4-1 前言 131
4-2 自適性撓性夾爪試做 132
4-3 機械利益驗證與幾何利益實驗 136
4-4 自適性與夾持實驗 140
4-4-1 凹物與凸物夾取實驗 140
4-4-2 實際物體夾持實驗 144
4-4-3 負載實驗 150
4-5 實驗結果整理與比較 152
4-6 本章小結 155
第五章 結論與未來工作 156
5-1 結論 156
5-2 未來工作 157
參考文獻 159

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