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研究生:蕭文正
研究生(外文):Wen-cheng Hsiao
論文名稱:使用壓電致動器之三自由度微操作平台
論文名稱(外文):A three-degree-of-freedom micro-manipulator using piezoelectric actuators
指導教授:程啟正程啟正引用關係
指導教授(外文):Chi-cheng Cheng
學位類別:碩士
校院名稱:國立中山大學
系所名稱:機械與機電工程學系研究所
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:2004
畢業學年度:92
語文別:中文
論文頁數:52
中文關鍵詞:壓電致動器微操作平台並聯式機構三自由度
外文關鍵詞:micro-manipulatorpiezoelectric actuatorthree-degree-of-freedomparallel-type mechanism
相關次數:
  • 被引用被引用:3
  • 點閱點閱:93
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壓電效應是在十九世紀時就被發現,但是壓電效應的應用是到了二十世紀後才開始發展。而於本論文中,即是使用基於壓電效應所製成之壓電致動器來設計製作一個三自由度的微操作平台,而在此微操作平台結構上則是使用並聯式機構來加以設計,且對其平台之運動狀態予以分析。而在控制系統上則整合了遠端控制功能。此外,並為此微操作平台應用於機械手臂上之可行性奠立基礎。
Piezoelectric effect was discovered in the 19th century, but the applications of piezoelectric effect were realized until the 20th century. In this paper, piezoelectric actuators, which are made based on piezoelectric effect, are employed to establish a three-degree-of-freedom micro-manipulator. The mechanism of this micro-manipulator is designed as a parallel-type mechanism. The kinematics of the micro-manipulator is also analyzed. In addition, a remote control framework is implemented with a control system and this achievement can be a demonstration for future feasibility of application of this micro-manipulator to robotic systems.
目錄……………………………………………………………………Ⅰ
圖索引…………………………………………………………………Ⅲ
表索引…………………………………………………………………Ⅴ
摘要……………………………………………………………………Ⅵ
Abstract………………………………………………………………Ⅶ
第一章 緒論…………………………………………………………1
1.1 研究動機……………………………………………………1
1.2 文獻回顧……………………………………………………1
1.3 論文架構……………………………………………………5
第二章 壓電致動器………………………………………………….6
2.1 壓電效應……………………………………………………6
2.2 壓電材料……………………………………………………7
2.3 壓電材料之應用……………………………………………9
第三章 三自由度微操作平台……………………………………….14
3.1 史都華平台…………………………………………………14
3.2 操作平台之設計……………………………………………15
3.3 平台運動分析………………………………………………21
第四章 平台之運動控制…………………………………………….27
4.1 控制方式……………………………………………………27
4.2 遠端控制……………………………………………………31
4.3 運動範圍……………………………………………………33
第五章 結論與未來展望…………………………………………….37
參考文獻………………………………………………………………39
附錄A 壓電致動器規格……………………………………………42
附錄B 電壓放大器規格……………………………………………43
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[16] 內野研二著,許溢适編譯,“壓電╱電歪致動器”,文笙書局,初版,中華民國八十五年六月。
[17] LabVIEW User Manual, National Instruments Corporation.
[18] http://www.piezo.com/history.html
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[20] http://www.piezomechanik.com/pdfs/introduction.pdf
[21] http://www.mathworks.com/company/newsletters/digest/sept02/stewart.html
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