臺灣博碩士論文加值系統

本文研究具有分離驅動之三平移自由度並聯式機器，分成三部分，第一部分為選擇肢體構造之限制條件。其限制條件分別為相同肢體構造、平移平台自由度等於肢體數與基底驅動之限制條件，目的在於排除不必要之肢體構造與縮小肢體構造之範圍。第二部分為將運用螺旋理論導出三平移自由度並聯式機器之可行肢體構造，並得到可行肢體構造之接頭軸向關係，依照四個連桿數、三個連桿數與二個連桿數做分類與整理，並只採用二個連桿數的8種肢體構造之結果。第三部分為尋找分離驅動之肢體分佈形態。將此8種肢體構造排除目前為止已經被探討過之肢體構造，縮減為4種肢體構造，分別為CPR肢體構造、CUR肢體構造、RU肢體構造與PUU肢體構造。並運用Jacobian矩陣求得肢體之位移量與致動器之輸入值，得到一種分離驅動之肢體形態。運用此肢體分佈形態來套用於CPR肢體構造、CUR肢體構造、CRU肢體構造與PUU肢體構造。最後，本文選擇CPR肢體構造並建立實體並透過實際操作證實具有分離驅動之特性。

This paper is study for a class of translational parallel manipulators featuring decoupling actuation. For three parts, the first part for the limb structure constraints are the same limbs structure, translational platform of degree of freedom equivalent to number of limbs and based actuation. The second part gets feasible limbs structure on screw theory and in accordance with the number of four-link, three-link and two-link to classification. The last part gets one of the distribute position of limbs for decoupling actuation. For the CPR limbs structure, CRU limb structure, CRU limb structure and PUU limb structure and used of the Jacobian matrix prove to have featuring decoupling actuation.

明志科技大學碩士學位論文指導教授推薦書 i
明志科技大學碩士學位論文口試委員審定書 ii
明志科技大學學位論文授權書 iii
誌謝 iv
摘要 v
英文摘要 vi
目　錄 vii
表目錄 ix
圖目錄 x
符號索引 xi
第一章 緒論 1
1.1 研究背景與動機 1
1.2 文獻回顧 1
1.3 研究目的 3
1.4 本文架構 3
第二章 螺旋理論 4
2.1 螺旋的定義 4
2.2 扳鉗螺旋與扭轉螺旋 6
2.3 運動接頭與螺旋表示法 10
第三章 三平移自由度並聯式機器之可行肢體 12
3.1 三平移自由度並聯式機器之限制條件 12
3.2 抵抗一力矩之肢體 14
3.3 抵抗二力矩之肢體 16
3.4 抵抗三力矩之肢體 19
3.5 可行肢體之旋轉接頭軸向 20
第四章 分離驅動之三平移並聯式機器建立與模擬 27
4.1 分離驅動之特性 27
4.2 CPR肢體構造之建立 28
4.3 致動器之選擇 29
4.4 CPR並聯式機器之肢體分佈形態與建立 32
第五章 結論與未來展望 42
參考文獻 43

表目錄
表 3-1 三自由度並聯式機器之肢體構造 22
表 3-2 抵抗一力矩肢體 25
表 3-3 抵抗二力矩肢體 25
表 4-1 可行之分離驅動肢體構造 27

圖目錄
圖 2-1 螺旋座標 5
圖 2-2 零節距扭轉螺旋 8
圖 2-3 無限大節距扭轉螺旋 8
圖 2-4 零節距扳鉗螺旋 9
圖 2-5 無限大節距扳鉗螺旋 9
圖 3-1 傳統三平移自由度並聯式機器 13
圖 3-2 抵抗一力矩肢體 14
圖 3-3 一力矩軸向垂直於平行平面 16
圖 3-4 抵抗二力矩肢體 16
圖 3-5 二力矩之旋轉接頭的扭轉螺旋皆平行 18
圖 3-6 抵抗三力矩肢體 19
圖 3-7 三力矩無旋轉運動 20
圖 3-8 平台之角速度為零 21
圖 4-1 CPR肢體之形態 28
圖 4-2 CPR並聯式機器肢體分佈形態 33
圖 4-3 CPR並聯式機器 36
圖 4-4 第一肢體之驅動時間與平台之位移量 37
圖 4-5 第二肢體之驅動時間與平台之位移量 38
圖 4-6 第三肢體之驅動時間與平台之位移量 39
圖 4-7 CPR並聯機器(1) 40
圖 4-8 CPR並聯機器(2) 40
圖 4-9 CPR並聯機器(3) 41

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