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研究生:顏宏哲
研究生(外文):Home-Che Yen
論文名稱:具撓性腱驅動機構之撓性分析與腱拉力控制
論文名稱(外文):COMPLIANCE ANALYSIS AND TENDON FORCE CONTROL FOR TENDON-DRIVEN ROBOTIC MECHANISMS WITH FLEXIBLE TENDONS
指導教授:李志中李志中引用關係
指導教授(外文):Jyh-Jone Lee
學位類別:碩士
校院名稱:國立臺灣大學
系所名稱:機械工程學研究所
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:62
中文關鍵詞:人造位能場具撓性腱驅動機構剛性矩陣區域線性化
外文關鍵詞:flexible tendonsresonant frequencyflexible tendonsresonant frequencytendon-driven mechanismstendon-driven mechanisms
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本文之內容為進行具撓性腱驅動機構之撓性分析與腱張力控制。在撓性分析方面,本文根據撓性腱之特性進行系統化之腱驅動機構位移分析、力量分析與系統剛性分析。由位移分析之結果可得知,腱之線位移與桿件角位移及腱伸長量間之關係。由力量分析之結果可得知,腱拉力與接頭力矩之關係。由系統剛性分析,本文推導機構系統之剛性矩陣與撓性矩陣。此外,本文亦進行腱驅動機構系統之動態特性分析。經由對系統動力方程式進行分析與區域線性化之步驟後,即可迅速求得系統之共振頻率與模態等系統動態特性。在腱張力之控制方面,本文利用人造位能場之概念及Lyapunov之穩定性理論進行腱驅動機構控制器之設計。本文所設計之控制器能使機構達成預期之運動,並改善腱鬆弛之現象。
In this thesis, the compliance analysis and tendon force control for tendon-driven robotic mechanisms with flexible tendons are performed. In the compliance analysis, the kinematic analysis for mechanisms with flexible tendons is established using the fundamental circuit equation. Subsequently, relations between the force and displacement are derived and the stiffness compliance matrix of the mechanism is studied. Dynamic equations of this system are also analyzed and resonant frequencies of this system are derived through local linearization of the dynamic model. In the tendon force control, the artificial potential field concept and Lyapunov stability theorem are used to design the controller for tendon-driven robotic mechanisms. It is shown the controller designed allows the robotic system to follow the desired trajectory and improve the tendon slack problem.
中文摘要………………………………………………………………….i
英文摘要…………………………………………………………………ii
目錄…………………………………………………………………...iii
圖列…………………………………………………………………...vi
符號對照表…………………………………………………………..vii
第一章 緒論………………………………………………………..1
1.1 前言………………………………………………………………1
1.2 文獻回顧…………………………………………………………2
1.3 研究動機與目標…………………………………………………3
1.4 本文介紹…………………………………………………………3
第二章 具撓性腱驅動機構之運動分析……………………………5
2.1 前言………………………………………………………………5
2.2 基本假設…………………………………………………………5
2.3 基本方程式……………………………………………………6
2.3-1 基礎迴路方程式………………………………………6
2.3-2 共軸關係方程式………………………………………7
2.4 機構之運動分析…………………………………………………8
2.4-1 位移分析…………………………………………8
2.4-2 力量分析………..………………………………11
2.5 機構之剛性分析………………………………………………..14
2.6 結論……………………………………………………………..14
第三章 具撓性腱驅動機構之動態特性分析………………………16
3.1 前言……………………………………………………………..16
3.2 機構之動態特性分析…………………………………………..16
3.3 分析範例………………………………………………………19
3.4 結論……………………………………………………………..26
第四章 具撓性腱驅動機構之腱拉力控制………………………27
4.1 前言……………………………………………………………..27
4.2 人造位能場理論之介紹………………………………………..27
4.3 Lyapunov 穩定性理論之介紹………………………………….29
4.4 控制器之設計…………………………………………………..31
4.5 設計範例………………………………………………………..34
4.6 結論……………………………………………………………..43
第五章 結論與未來研究方向………………………………………44
5.1 結論……………………………………………………………..44
5.2 未來研究方向…………………………………………………..45
參考文獻…………………………………………………………….47
附錄 I 3.3節分析範例之機械手臂系統動力方程式……………50
附錄 II 4.5節設計範例之機構尺寸及相關常數.………………….51
附錄 III 4.5節設計範例之程式流程圖..………….……………….52
附錄 IV 4.5節設計範例之程式碼………………..……………….53
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