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研究生:陳和宏
研究生(外文):He-Hong Chen
論文名稱:六軸動感平台機電整合及軟體設計之研究
論文名稱(外文):A study on electro-mechanical intergration and software design of six-DOF motion platform
指導教授:任志強任志強引用關係
指導教授(外文):Jyh-Chyang Renn
學位類別:碩士
校院名稱:國立雲林科技大學
系所名稱:機械工程系碩士班
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:2006
畢業學年度:94
語文別:中文
論文頁數:78
中文關鍵詞:六軸動感平台虛擬實境技術順/逆向運動學電-液伺服系統
外文關鍵詞:Six-DOF Motion PlatformForward/Inverse KinematicsElectro-Hydraulic Servo SystemVirtual Reality Technology
相關次數:
  • 被引用被引用:19
  • 點閱點閱:620
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  • 下載下載:119
  • 收藏至我的研究室書目清單書目收藏:1
本文主旨在研究液壓式六軸動感平台之電-液伺服機構與軟體控制兩種系統的整合性技術。並介紹整個運動平台之機構特性與順/逆向運動學之推導,說明如何藉由所推導出的順/逆向運動學運用到自行開發的軟體程式中,將其與六軸動感平台之電-液伺服系統整合為一完整控制系統。六軸動感平台的應用不論在軍事、工業、娛樂上皆有相當的潛力,但總體來說,其機構型式簡單而數學複雜,整個平台的運動牽涉到相當龐大的數學運算,因此在過去一直沒有受到相當的重視,但在近年來,由於電腦技術的發展和價格的下降,以及各種新的控制律的出現,使得六軸動感平台得以實用化。針對六軸動感平台作分析並建立其機構及油路系統、控制硬體與軟體的架設、並進行逆向運動學分析、順向運動學分析與控制器設計,最後並以實驗驗證自行發展之控制軟體與硬體,提供未來配合虛擬實境技術發展成更具商業價值之虛擬平台控制系統之雛型。
The aim of this paper is to study the integration technology of the electro-hydraulic control system and the software programming for electro-hydraulic six-DOF platform known as the Stewart platform. The introduction of the mechanism properties and forward/inverse kinematics equation reveals the way to integrate forward/inverse kinematics equation into the self-developed software program .The application of six-DOF motion platform has significant potential in the fields of the military, industry and entertainment. In the past, six-DOF motion platform was not popular because of its complicated mathematic analysis. However, the recent development of computer technology, the cost down as well as the development of new control law causes that six-DOF motion platform becomes more and more practical and popular. This study is to analysis the six-DOF motion platform including forward/inverse kinematics and mechanism type, to built the control hardware/software and to design the controller. Finally, the results of experiment show the excellent performance of the self-developed control hardware/software. The technique presented in this paper will be utilized to develop a prototype combining the virtual reality technology in the future.
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15. 自傳
1.Stewart D., 1965, “A Platform with 6 Degrees of Freedom,” Proc. of the Institution of Mechanical Engineers, 180 Part 1, No 15, pp.371-386.
2.Hunt. K. H., 1983, “Structural Kinematics of in Parallel Actuated Robot-Arms,” ASME J. Mechanisms, Transmissions and Automation in Design, Vol. 105, pp. 705-712.
3.Ilian A. Bonev, Student Member, IEEE, Jeha Ryu, Member, IEEE, Sung-Gaun Kim, and Sun-Kyu Lee., 2001, “ A Closed-Form Solution to the Direct Kinematics of Nearly General Parallel Manipulators with Optimally Located Three Linear Extra Sensors,” IEEE Int. Conf. on Robotics and Automation, Vol. 17, No. 2, pp. 148-156.
4.Ping Ji and Hongtao Wu., 2001, “ A Closed-Form Forward Kinemativs Solution for the 6-6p Stewart Platform,” IEEE Int. Conf. on Robotics and Automation, Vol. 17, No. 4, pp. 522-526.
5.Liu, K., Fitzgerald, J.M., and Lewis, F.L.,1993, “Kinematic Analysis of a Stewart Platform Manipulator,” Industrial Electronics, IEEE Transactions on, v 40, Issue 2, pp. 282~293.
6.Nanua, P., Waldron, K.J., and Murthy, V.,1990, “Direct Kinematic Solution of a Stewart Platform,” Robotics and Automation, IEEE Transactions on, v 6, Issue 4, p. 438~444.
7.C. C.Nguyen, Z. L. Zhou, and S. S. Antrazi.,1991, “Efficient Computation of Forward Kinematics,” IEEE Int. Conf. on Robotics and Automation, Vol. 3, No. 2, pp. 869-874.
8.Ka C. Cheok, James L. Overholt, and Ronald, Beck, 1993, “Exact Methods for Determining the Kinematics of a Setwart Platform Using Additional Displacement Sensors,” Journal of Robotic Systems by John Wiley & Sons, Inc.
9.J. P.Merlet, 1993, “Closed-Form Resolution of the Direct Kinematics of Parallel Manipulators Using Extra Sensors Data,” in Proc. IEEE Int. Conf. Robotics and Automation, Vol. 1, pp. 200-201.
10.K. Han, W. Chung, and Y, Youm, 1996, “New Resolution Scheme of the Forward Kinematics of Parallel Manipulators Using Extra Sensors,” Journal of Mechanisms and Design, Vol. 118, No. 2, pp, 214-219.
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13.任志強,伺服液氣壓學,國立雲林科技大學,2004。
14.劉翰綸,2005,反覆式學習控制於史都華平台之應用,大葉大學機電與自動化研究所碩士論文。
15.麥敏輝,2002,六軸動感平台的複合式滑動模式控制,國立雲林科技大學電機工程系碩士論文。
16.顏鴻森,1999,機構學,東華書局。
17.陳建宏,2003,虛擬實境動態模擬器之嵌入式即時控制系統,國立交通大學電機與控制工程學系碩士論文。
18.http://ppsc.pme.nthu.edu.tw/~tclee/mirror/Sandia/note.html
19.http://ppsc.pme.nthu.edu.tw/hexapod/
20.http://www-sop.inria.fr/coprin/equipe/merlet/merlet_eng.html
21.http://www.parallemic.org/
22.http://procnc.me.cycu.edu.tw/HTML/教學館.htm
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