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研究生:彭建閔
論文名稱:Hexaglide並聯式平台機構之反向動力學分析
論文名稱(外文):Inverse Dynamics Computations of the Hexaglide Parallel Mechanism
指導教授:王勵群
學位類別:碩士
校院名稱:國立臺灣科技大學
系所名稱:機械工程系
學門:工程學門
學類:機械工程學類
論文種類:學術論文
論文出版年:2001
畢業學年度:89
語文別:中文
論文頁數:65
中文關鍵詞:並聯式平台機構
外文關鍵詞:parallel mechanism
相關次數:
  • 被引用被引用:2
  • 點閱點閱:495
  • 評分評分:
  • 下載下載:45
  • 收藏至我的研究室書目清單書目收藏:0
本文主旨為探討六軸並聯式平台機構之反向運動與反向動力分析及驅動力、拘束力與拘束力矩之數值分析,此機構為史都華平台發展而出的一新型加工機(Hexaglide)。吾人利用活動平台、連接桿和驅動滑塊間之向量關係,導出此機構之滑塊與連接桿的速度與加速度關係式;而反向動力方程式推導為當機構中之所有廣義座標之位置、速度、加速度皆為已知時,利用導出之反向運動分析作輔助,進而求出各滑塊所需之驅動力,連接桿之拘束力與拘束力矩。此外,就工具機加工應用之考量,吾人規劃數個運動軌跡並分析其驅動力、拘束力與拘束力矩改變情況。
This thesis deals with the inverse kinematics and the inverse dynamics analysis of the Hexaglide parallel mechanism, which is a new six degree-of-freedom manipulator similar to a Stewart Platform. The solution procedures for the inverse velocity and acceleration analysis of each component of the mechanism are first developed. In addition, the inverse dynamics involves of computing the driving forces and each link’s constraint forces/torques for a given displacement, velocity, and acceleration of the moving platform is derived based on the Newton-Euler formulation. Several numerical examples are presented to demonstrate the ability of the proposed method.
第一章 緒論1
第二章 反向運動學分析4
2.1 Hexaglide之基本構造4
2.2 座標系統與連桿參數之定義5
2.3 驅動滑塊之速度與加速度分析6
2.4 連接桿之絕對速度與加速度分析11
第三章 反向動力分析16
3.1 Hexaglide之動力方程式16
3.2 Hexaglide機構之拘束力與驅動力分析22
第四章 數值範例25
第五章 結論與建議41
參考文獻42
附錄A45
附錄B51
作者簡介65
[1] M. Honegger, A. Codourey and E. Burdet, “Adaptive control of the
hexaglide, a 6 dof parallel manipulator”, Proc. of IEEE Int. Conf. on
Robotics and Automation, pp. 20-25, 1997.
[2] 蔡尚憲, “Hexaglide 並聯式平台機構之反運動學及工作空間分析與設計”,國立台灣科技大學機械工程研究所碩士論文 ,2000
[3] Do, W. Q. D. and Yang, D. C. H., 1988, “Inverse Dynamic Analysis and Simulation of a Platform Type of Robot,"J. Robot. Syst.,Vol.5, No.3,pp.209-227
[4] Tsai, K. Y. and Kohli, D., 1990, “Modified Newton-Euler Computatinal Scheme for Dynamic Analysis and Simulation of Parallel Manipulators with Applications to Configuration Based on R-L Actuators,"Proc. 1990 ASME Design Engineering Technical Conferences, Vol. 24, pp.111-117
[5] Boyer, F. and Coiffet, P., 1996, “Generalization of Newton-Euler Model for Flexible Manipulators,"J. Robot. Syst.,Vol.13, No.1, pp. 11-24
[6] Lebert, G., Liu, K., and Lewis, F. L., 1993, “Dynamic Analysis and Control of a Stewart Platform Manipulator,"J. Robot. Syst.,Vol.10, No.5, pp. 629-655
[7] Pang, H. and Shahingpoor, M., 1994, “Inverse Dynamics of a Parallel Manipulator,"J. Robot. Syst.,Vol.11, No.8, pp. 693-702
[8] Zhang, C. D. and Song, S. M., 1993, “An Efficient Method for Inverse Dynamics of Manipulators Based on the Virtual Work Principle,"J. Robot. Syst.,Vol.10, No.5, pp. 605-627
[9] Miller, K., 1995, “Experimental Verification of Modeling of Delta Robot Dynamics by Application of Hamilton’s Principle,"Proc. 1995 IEEE International Conference on Robotics and Automation, pp. 532-537
[10] Codourey, A. and Burdet, E., 1997, “A Body-Oriented Method for Finding a Linear Form of the Dynamic Equation of Fully Parallel Robots,"Proc. 1997 IEEE International Conference on Robotics and Automation,Albuquerque, NM, pp. 1612-1618
[11] Tsai, L. W., 1998, “Solving the Inverse Dynamics of Parallel Manipulators by the Principle of Virtual Work,"DETC98/MECH-5865, Proc. ASME Design Engineering Technical Conferences, Atlanta,GA.
[12] 盧明興, “多迴路空間連桿機構之驅動力與拘束力分析” ,國立台灣科技大學機械工程研究所碩士論文 ,1994
[13] J. E. Shigley and J. J. Uicker, Theory of Machines and Mechanisms(2th ed.). New York: McGraw Hill, 1995.
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