臺灣博碩士論文加值系統

The 5R parallel manipulator is built of five bars and five revolute joints, where the two revolute joints that are attached to the base are actuated. Such a manipulator can be utilized in high-speed machine tools or as a drilling machine and laser drawing. Considering the promising characteristics of parallel manipulators, and lightweight manipulators, 5R parallel manipulators with four lightweight links are developed, to provide an alternative high-speed pick-and-place positioning mechanism to serial architecture manipulators. Lightweight linkages may exhibit structural defection and vibrate because of the inertial forces from high velocity motion, and external forces from actuators. Structural flexibility impacts are considerably more articulated at high operational velocities and accelerations.

The thesis proposes a technique of building and simulation of 2 DOF (degree-of-freedom) parallel manipulator with flexible linkage in view of Matlab / SimMechanics, and its direct and inverse kinematics is developed. Numerical simulations of the mechanism are done based one the models made and the desired trajectory and law of motion choses. Essential outcomes got from the simulation are talked about, giving specific consideration to the position error. Toward the end, a thorough conclusion of the whole work is offered and important proposal are forwarded.

ABSTRACT iii
Acknowledgements iv
Table of Contents v
Table of Figures vi
CHAPTER I 1
INTRODUCTION 1
1.1 Thesis Motivation 1
1.2 Literature Review 5
1.3 Parallel Robot Manipulator 6
1.3.1 Dynamic Modeling of Robots and Mechanisms with Link Flexibility 7
1.3.2 Dynamic Modeling of Manipulators using SimMechanics 14
1.3.3 Vibration Control of Flexible Robot and Mechanical Systems 15
1.4 The objective 16
1.5 Thesis Overview 16
CHAPTER 2 18
PARALLEL ROBOT KINEMATIC ANALYSIS 18
2.1 Introduction 18
2.2 Inverse Kinematics 19
2.3 Forward Kinematics 22
2.4 Jacobian Matrix and Singularity Analysis 24
2.5 Workspace of the robot 30
2.6 Summery 32
CHAPTER 3 34
3.1 Introduction 34
3.2 SimMechanics 35
3.3 Modeling the Rigid 5R Parallel Manipulator in Catia 36
3.4 Creating SimMechanics Model from Catia Model 37
3.5 Trajectory planning 41
3.6 Simulation results 42
3.7 Summery 45
CHAPTER 4 47
4.1 Introduction 47
4.2 Modeling of the Parallel Robot with Flexible Links 49
4.3 The Lumped-Parameter Method 50
4.4 Numerical Simulation and Analysis 54
4.5 Summery 59
CHAPTER 5 61
5.1 Thesis Summary 61
6.2 Future work 61
References: 63

Table of Figures

Figure1.1 A serial manipulator 2
Figure 1. 2 A parallel manipulator 2
Figure 1. 3 A manipulator with flexible links 3
Figure 1. 4 A manipulator with rigid links 3
Figure 1. 5 Catia model of 5R parallel manipulator 5
Figure2.1 Catia model of the 5R parallel manipulator 20
Figure 2.2 General Kinematic Scheme of a 5R Parallel Robot 22
Figure 2.3 The four inverse kinematic models: (a) “+ -” model; (b) “- +” model; (c) “- -” model and (d) “+ +” model. 23
Figure 2.4The two forward kinematics models: (a) the up-configuration and (b) the down configuration. 24
Figure 2.5 The theoretical workspace is shown as the hatched region. 31
Figure 2.6 The simulation of maximum workspace for 5R parallel Manipulator. 32
Figure3.1Catia model of rigid 5R parallel manipulator 37
Figure 3.2 CAD to SimMechanics transformation sequence 37
Figure 3.3 SimMechanics model of the 5R rigid parallel Manipulator translated from solid work 38
Figure 3.4Physical model of rigid five-bar linkage 5R parallel manipulator in SimMechanics 39
Figure 3.5SimMechanics model of rigid parallel Manipulator with sensor and actuator 40
Figure 3.6 Simulink Open-loop model of the rigid 5R parallel Robot 40
Figure 3.7 2D trajectory generation of circle for the 5R parallel robot in MATLAB/Simulink 41
Figure 3.8 Motion low for the reference end effector trajectory 42
Figure 3.9 Reference and Actual End effector 2D plot of trajectory for the rigid 5R parallel robot from MATLAB 43
Figure 3.10 Reference and Actual End-effector X-trajectory 44
Figure 3.11 Reference and Actual End-effector Y-trajectory 44
Figure 3.12 Revolute joint motion 52
Figure 4.1 SimMechanics model of a 5R parallel Manipulator with flexible links 50
Figure 4.2 SimMechanics model of the Flexible link 52
Figure 4.3 Block parameters of flexible element 52
Figure 4.4 Model of Generalized beam element in SimMechanics 53
Figure 4.5 SimMechanics Model of Bending around Z direction 53
Figure 4.6 Simulink open loop model of the 5R parallel robot with flexible links 53
Figure 4.7 Physical model of five-bar linkage 5R parallel manipulator with flexible links in SimMechanics 55
Figure 4.8 Reference and Actual End effector 2D plot of trajectory for 5R parallel robot with flexible links from MATLAB 55
Figure 4.9 Reference and Actual End effector X-trajectory 56
Figure 4.10 Reference and Actual End effector X-trajectory 56
Figure 4.11 Error between Reference and Actual End effector trajectory for X ＆ Y 57
Figure 4.12 Revolute joint motion for the flexible link 57
Figure 4.13 Angle between the flexible links 58
Figure 4.14 High speed response 66
Figure 4.15 Slow speed response 66

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