臺灣博碩士論文加值系統

本論文係研究由它激式直流馬達耦合一具有剛性與撓性連桿的二連桿機械臂的動態響應。藉由漢彌爾頓原理的推導與分析可得到包含馬達的電磁性、阻抗與在輸入時機構的黏滯阻尼以及所有可移動連桿的質量、慣性以及一尤拉樑的撓性等特性的機構統御方程式。統御方程式是耦合剛體運動與撓性振動的非線性方程式。為了研究參數行為將御方程式轉換成無因次化，並藉由伽遼金法將偏微分方程的御方程式化為常微分方程。最後，系統啟動與鎖住之數值分析結果描述了由於運動所引發的振動行為。

This study investigates the dynamic responses of a two-link rigid-flexible manipulator driven by a separately excited d-c motor. The governing equations, formulated by Hamilton’s principle, include effects of mass, inertia and flexible properties of a flexible beam, and the motor electric input and rotational damping. It is found that the governing equations are nonlinear coupling between the rigid-body motion and flexible vibration. The dimensionless form is employed to study the parameter behavior. The partial differential equations are reduced to the ordinary differential equations by Galerkin’s method. Finally, the numerical results are provided to show the motion-induced vibrations, when the system undergoes startup and locking.

English Abstracti
Chinese Abstractii
Contents iv
Figure Captionv
Table Captionvi
Nomenclaturevii
1. Introduction1
2. Dynamic Response during Startup4
2.1. Dynamic Model for Manipulator-Motor Coupled System4
2.1.1. Modeling5
2.1.2. Approximate Approach7
2.2. Numerical Results9
3. Dynamic Response for Locking11
3.1. Generalized Momentum Balance Method11
3.2. Numerical Results14
4. Conclusions16
References17
Appendix A19
Appendix B22
Figure24
Table33

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