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研究生:薛博仁
研究生(外文):Bo-Ren Hsueh
論文名稱:機械臂─馬達耦合系統啟動與鎖住之動態響應
論文名稱(外文):Dynamic Responses of a Manipulator-Motor Coupled System during Startup and Locking
指導教授:孫榮宏
指導教授(外文):Jung-Hung Sun
學位類別:碩士
校院名稱:國立高雄第一科技大學
系所名稱:機械與自動化工程所
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:2002
畢業學年度:90
語文別:英文
論文頁數:33
中文關鍵詞:啟動剛性與撓性鎖住機械臂
外文關鍵詞:Rigid-FlexibleLockingStartupManipulator
相關次數:
  • 被引用被引用:3
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  • 下載下載:137
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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
1. YIGIT, A., SCOTT R. A., and ULSOY, A. G., 1988, Journal of Sound and Vibration 121(2), 201-210. Flexural Motion of a Radially Rotating Beam Attached to a Rigid Body.2. CHOURA, S., and YIGIT, A., S., 2001, Journal of Sound and Vibration 243(3), 883-897. Control of a Two-Link Rigid-Flexible Manipulator with a Moving Payload Mass.3. LOW, K. H., 1987, Journal of Robotic Systems 4(3), 435-456. A Systematic Formulation of Dynamic Equations for Robot Manipulators with Elastic Links.4. YIGIT, A., S., 1994, Journal of Sound and Vibration 177(3), 349-361. The Effect of Flexibility on the Impact Response of a Two-Link Rigid-Flexible Manipulator.5. WANG, F. Y., and GUAN, G.., 1994, Journal of Sound and Vibration 171(4), 433-452. Influences of Rotatory Inertia, Shear and Loading on Vibrations of Flexible Manipulators.6. RISMANTAB-SANY, J., SHABANA, A. A., 1990, Journal of Vibration and Acoustics 112, 119-126. On the Use of the Momentum Balance in the Impact Analysis of Constrained Elastic Systems. 7. ATAKAN, D., and ALTUG, I., 1998, IEEE International Conference on Control Applications, 761-765. Modeling and Control of a Two-Link Flexible Robot Manipulator.8. NICOSIA, S., VALIGI, P., and ZACCARIAN, L., 1996, IEEE International Conference on Robotics and Automation, 1953-1958. Dynamic Modelling of a Two Link Flexible Robot and Experimental Validation.9. MYKLEBUST, A., 1982, Journal of Mechanical Design 104, 137-142, Dynamic Response of an Electric Motor-Linkage System During Startup.10. Szyszkowski, W., 1998, Journal of Applied Mechanics Vol. 65, 479-484, Effects of Flexibility and Damping on Momentum Transfer During Locking of Two Moving Link, Part Ⅰ: Numerical Simulation. 11. Szyszkowski, W., 1998, Journal of Applied Mechanics Vol. 65, 485-488, Effects of Flexibility and Damping on Momentum Transfer During Locking of Two Moving Link, Part Ⅱ: Analytical Approach. 12. Nagaraj, B. P., 1997, Journal of Sound and Vibration 207(4), 567-589. Dynamics of a Two-Link Flexible System Undergoing Locking: Mathematical Modeling and Comparison with Experiments.13. Hsueh, B. R., 2002, Master’s Thesis, Kaohsiung First University of Science and Technology, Yenchau, Taiwan, Dynamic Response of a Manipulator-Motor Coupled System during Startup and Locking.14. YIGIT, A., 1994, Transactions of the ASME 116, 208-215, On the Stability of PD Control for a Two-Link Rigid-Flexible Manipulator.15. Meirovitch, L., 2001, Fundamentals of vibrations, International ed., McGraw-Hill, New York.
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