臺灣博碩士論文加值系統

虛軸工具機因為擁有封閉鏈式機構的設計，而與傳統工具機開放鏈式機構
的設計有很大的差異。因此，新型虛軸工具機相對於一般傳統工具機有下
列三大優點：很高的承載負荷能力、剛性結構及桿件較小的累積誤差等能
力。因此，被譽為次世代工具機，但因為虛軸工具機應用到的理論比較複
雜，使得虛軸加工機研製及加工技術的推廣，仍存有許多學術與技術上的
困難而有待突破。因此，本論文嘗試建立一個擁有六個自由度高速切削的
虛軸工具機，而新型虛軸工具機是相似Hexaglide工具機，但本構型的球
接頭是分別交於移動平台的上下兩側，並且擁有六個線性馬達、六個固定
長度的腿及在移動平台上擁有刀具設備。而本論文是利用螺旋理論來計算
新型虛軸工具機的運動及奇異性，利用六條腿的物理量組成Plucker座標
的 ，並且利用 行列值的變化量去預測機構的奇異性，最後希望未來可進
一步改善新型虛軸工具機加工性能。

Parallel manipulators are close-chain mechanisms. Compared with
conventional machine tools, it seems very much difference
between them. Parallel manipulators have been recognized that
this kind of manipulators possess the following three advantages
compared with conventional machining: 1) higher force/torque
capacity; 2) higher structural rigidity; 3) higher accuracy due
to the noncumulative joint errors. Therefore, they were called
"Second Generational Machines". But parallel manipulators apply
many complThis dissertation presents a new 6 DOF parallel
manipulator intended to be used as a high speed milling machine.
It is similar to a Hexaglide but instead of variable joint end
effector two sections, it has (1)6 linear motors (2)6 constant
leg bars (3) linking the platform with tools. The screw theory
is adopted in this paper to calculate the kinematics and
singularities of a newly-parallel manipulator. The purposes are
to slove the kinematics problems and to forecast singularities
for by variability for the