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研究生:陳彥翔
研究生(外文):Yan-Shiang Chen
論文名稱:3-PRPaR直角型並聯式機器人之分析與模型控制
論文名稱(外文):Analysis and Model Control of the 3-PRPaR Cartesian Parallel Manipulator
指導教授:李聰慶
指導教授(外文):Chung-Ching Lee
學位類別:碩士
校院名稱:國立高雄應用科技大學
系所名稱:模具工程系
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:2009
畢業學年度:97
語文別:中文
論文頁數:64
中文關鍵詞:並聯式機器人直角型端末器
外文關鍵詞:Parallel manipulatorPure translationUncoupled
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本論文針對直角型3-PRPaR純平移並聯式機器人,加以純平移的印證及運動特性分析。首先,描述此類機器人的機構構造及可動性。由D-H符號法則定義各桿動坐標系的相對關係,利用坐標轉換原理,經各運動肢推導端末器位移方程式,證明該並聨式機構確實具有三自由度純平移運動特性。接著,導出正逆向運動位移的解析閉合解,進行運動分析且以VisualNastran 4D印證其正確性。並舉運動模擬數值實例,比較輸出入位移曲線,驗證滑塊位移輸入和端末器的位移,具有非耦合作動特性。之後,利用正向運動學方程式決定機器人的工作空間。
然後把此機器人優化;用一般機械加工方法和CNC,按一定比例加工製造此模型,進而組裝測試實際運動狀態,把滑行對(P)和迴轉對(R)合併成一個,之後有些零件因為剛性問題改成ㄧ體成型來解決,最後依伺服滑台的尺寸來加工支架和底座的部份,而且都不會影響到此機器人的運動。
當所有部份都加工完成時把3台伺服滑台裝在滑行的方塊上,當作輸入,經由電腦來控制它們滑行的距離和速度,進而得知此優化機器人的運動範圍,最後針對本論文的研究結果做整理,提出未來可供繼續研究的方向。
This study is focused on the kinematics and motion verification of a 3-PRPaR cartesian translational parallel manipulator (abbreviated as 3-PRPaR CTPM), which was proposed by Lee and Hervé in . First, we describe mechanism and confirm it mobility. Then, we verify the translational motion using D-H symbolic notation and the 4x4 coordinate-transformation technique. Furthermore, we study the inverse and forward kinematics by matrix algebra and derive their analytical closed-form solutions, which are verified by VisualNastran 4D. The determination of workspace is also implemented. It is shown that 3-PRPaR CTPM has the uncoupled actuation.
Then optimize the robot; with general machining and CNC, according to a certain percentage of manufacturing this model, and assembly and testing of the actual exercise status, the glide of (P) and turn on the (R) into a single, followed in some parts because rigid body into a molding problem to solve, and finally sliding servo Units in accordance with the size and base support to the processing part of, and all this will not affect the exercise of the robot.
When all parts are processed upon the completion of Units 3 servo slide put in a sliding Units on the box, as Input, through their computer to control the distance and speed taxiway, and then was informed that the optimized range of motion of the robot, Finally the results of this study are organized and presented to offer a direction of further study.
中文摘要 --------------------------------------------------------------------------- i
英文摘要 --------------------------------------------------------------------------- ii
目錄 --------------------------------------------------------------------------- iii
圖目錄 --------------------------------------------------------------------------- iv
表目錄 --------------------------------------------------------------------------- vii
一、 前言--------------------------------------------------------------------- 1
二、 基礎理論與構造------------------------------------------------------ 4
2.1 座標轉換矩陣--------------------------------------------------------- 4
2.2 Denavit&Hartenberg符號法則------------------------------------- 4
2.3 機構描述--------------------------------------------------------------- 6
2.4 空間純平移運動特性------------------------------------------------ 7
三、 運動學分析------------------------------------------------------------ 18
3.1 逆向運動學分析------------------------------------------------------ 18
3.2 正向運動學分析------------------------------------------------------ 22
3.3 工作空間--------------------------------------------------------------- 26
四、 3-PRPaR並聯式機器人模型製造----------------------------------- 29
4.1 模型探討--------------------------------------------------------------- 29
4.2 模型製作--------------------------------------------------------------- 33
五 電腦模擬控制--------------------------------------------------------- 49
5.1 伺服滑台和控制器的尺寸與規格--------------------------------- 51
5.2 伺服滑動平台控制指令表------------------------------------------ 59
5.3 POPCOM編輯軟體-------------------------------------------------- 63
5.4 警報訊息ㄧ覽表------------------------------------------------------ 64
六 結論與建議------------------------------------------------------------ 66
參考文獻 --------------------------------------------------------------------------- 68
[1] Lee, C.-C. and Hervé, J. M., “Cartesian Parallel Manipulators with Pseudo-Planar Limbs”, ASME J. Mech. Des., Vol.129, No.12, pp.1256-1264, 2007.
[2] Clavel, R., “DELTA, a Fast Robot with Parallel Geometry”, 18th Int. Symp. on Industrial Robot, Lausanne, pp. 91-100, 1988.
[3] Hervé, J. M., “Dispositif Pour le Deplacement en Translation Spatiale d′un Element dans l′espace en Particuller Pour Robot Mecanique,” French patent no. 9100286, 1991.
[4] Tsai, L.W., Walsh, G.C., and Stamper, R., “Kinematics of a Novel Three-DOF Translational Platform,” Proc. IEEE 1996, International Conference on Robotics and Automation, Minneapolis, MN, pp. 3446-3451, 1996.
[5] Tsai, L.W., Robot Analysis: the Mechanics of Serial and Parallel Manipulators, John Wiley and Sons, New York, 1999.
[6] Lee, C.-C. and Chou, J.-H, "Kinematics of a 3-Dof Translational Parallel Mechanism with 3-PRPaR Topology " Proc. DETC’04:ASME 2004 Design Engg. Tech. Conf. & Com. Inf. Engg. Conf., DETC2004-57193, Salt Lake City, Utah,2004.
[7] Lee, C.-C. and Hervé, J. M., “Translational Parallel Manipulators with Doubly Planars Limbs,” Mech. Mach. Theory, Vol.41, pp. 433-455, 2006.
[8] Li, Y. and Xu Q., “Kinematic Analysis and Design of a New 3-DOF Translational Parallel Manipulator,” ASME J. Mech. Des., Vol.128, pp. 729-737, 2006.
[9] Lee, C.-C. and Liu, Y. –T., "Inveres Kinematics Analysis of 3-PRRRR and 3-RPRRR TPMs," Proc. Tenth National Conference on the Design of Mechanisms and Machines, Vol.1, Taichung, pp.231-238, 2007.
[10] Denavit, J. and Hartenberg, R. S., “A Kinematic Notatiion for Lower Pair Mechanisms Based on Matrices,” ASME Trans. J. Applied Mechanics, Vol.22, pp.215-221, 1955.
[11] Tsai M.-S. , Shiau T.-N. , Tsai Y.-T., Chang T.-H., 2003“Direct kinematic analysis of a 3-PRS parallel mechanism,” Mechanism and Machine Theory, Vol. 38, pp. 71-83.
[12] Ruggiu M., 2007, “Kinematics analysis of the CUR translational manipulator,” Mechanism and Machine Theory, In Press.
[13] Li Y. and Xu Q. , 2006,“Kinematic Analysis and Design of a New 3-DOF Translational Parallel Manipulator,” ASME Trans. J. Mech. Design, Vol. 128, Issue 4, pp. 729-737
[14] Gough,V. E. and Whithall, S. G., 1962,“Universal Tire Test Machine,”Proc.9th International Technical Congress, F.I.S.I.T.A.,pp.177(Institution of Mechanical Engineers)
[15] Clavel, R., 1988,“Delta a Fast Robot with Parallel Geometry,”Porc. Int. Symp. On Industrial Robots,pp.91-100
[16]邱正弘,2004,Prism型並聯式機器人之誤差模型與分析,國立高雄應用科技大學,碩士論文
[17]江佳朋,2008,3-RRPRR型純平移並聯式機器人運動與構型分析,國立高雄應用科技大學,碩士論文
[18]劉乙宗,2008,3-PRRRR型純平移並聯式機器人運動與構型分析,國立高雄應用科技大學,碩士論文
[19]吳鴻輝,2007,3-PHH型純平移並聯式機器人模型製造與位移分析,國立高雄應用科技大學,碩士論文
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