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研究生:吳瑋哲
研究生(外文):Wei-Jhe Wu
論文名稱:多模式彈性致動器開發
論文名稱(外文):Development of a Multi-mode Elastic Actuator
指導教授:林沛群
口試日期:2017-07-18
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:2017
畢業學年度:105
語文別:中文
論文頁數:86
中文關鍵詞:彈性致動器機構離合器彈簧複合動力能量使用效率
外文關鍵詞:Elastic actuatorMechanismClutchSpringHybrid powerEnergy efficiency
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機器人在生活中的應用已逐漸成熟,而在學術上則為了增加機器人面對不同地形的運動能力,致動方法仍不斷地在研究中。直流馬達是常見於機器人身上所使用的致動器,透過電能到機械能的轉換,是相當精巧且簡單的致動方式。馬達會因為所操作的電壓和外界變動的負載,需要不斷的改變操作點以滿足各種動力需求。正是因為這樣單一的動力來源,當面臨到高功率或高耗能的操作點時,馬達往往會失去它優異的致動能力。本論文以上述的問題為發展動機,建構以馬達為主動動力輸入並配合彈簧調節動力輸出的致動器,希望能達成增加輸出轉矩/功率或能量使用效率的性能指標。論文中將涵蓋致動器的設計、動力操作的分析以及在特殊操作點時的應用驗證。在致動器設計中,發展了兩種版本的彈性致動器,一為機構原型設計以用於快速驗證概念,另一為基於前一版本開發更為穩定且具備多模式輸出的致動器。在動力操作分析中,從彈力位能的儲存和釋放兩方面去模擬和測試,並提出可行的動力調控策略,以進行有效率的能量轉移。最後在應用驗證中,透過特殊操作點的設計,實際驗證了在使用複合動力架構下具有顯著的馬達使用效率和性能指標提升。
The applications of the robots on our daily lives are increasingly mature, while in academics, the actuation methods for the robots are still under development since the robots are desired to have great actuation ability to face the various environment. DC motors are the most common actuator seen on robotic platforms, because their transfer of electrical power to mechanical power provides a simple and compact form of actuation. Because of the various power requirements placed on the motors, and differing voltages and loads, their required operating points are constantly changing. A high power, high energy-consumption output requirement may exceed the actuation capacity of a lone DC motor. The issues stated above are the starting point of this thesis. Presented in this paper is an actuator that utilizes a DC motor as primary power input, coupled with a spring to provide extra power when needed. The purpose of this actuator is to extend the output torque/power or the output efficiency of the DC motor. We will cover the basic design of the actuator, the control strategy used, and then verify the design under certain unusual circumstances. Two actuator designs are discussed: the first is a basic prototype that verifies the concept of such an actuator, and the second version builds upon the previous design and is more stable and the spring and motor are more coordinated. The control method is analyzed based on the storage and release of the spring potential energy, and a power modulation strategy that provides efficient energy transfer in and out of the system is presented. Finally, by operating the actuator at unusual operating points, we verify this hybrid actuator can effectively increase the motor efficiency and performance.
誌謝 II
中文摘要 III
Abstract IV
目錄 V
圖目錄 IX
表目錄 XII
第一章 緒論 1
1.1 前言 1
1.2 研究動機 2
1.3 文獻回顧 3
1.4 貢獻 6
1.5 論文架構 6
第二章 機構原型設計 7
2.1 前言 7
2.2 設計概念 7
2.2.1 系統需求 7
2.2.2 機構設計 8
2.2.3 元件選用 9
2.3 運作原理 11
2.3.1 輸出模式 11
2.3.2 機構平台討論 14
2.4 馬達操作點轉移 15
2.4.1 彈力位能儲存 15
2.4.2 彈力位能釋放 17
2.5 效能驗證 18
2.5.1 馬達電流估測 18
2.5.2 彈力位能儲存實驗 18
2.5.3 彈力位能釋放實驗 20
2.6 馬達耗能 23
2.6.1 扭簧儲能模擬 24
2.6.2 扭簧釋能模擬 25
2.6.3 耗能結果 26
2.7 本章結論 27
第三章 機構改版 28
3.1 設計目標 28
3.2 硬體架構 30
3.2.1 外觀架構 30
3.2.2 傳動架構 31
3.3 機電系統 33
3.3.1 控制核心 34
3.3.2 分配電路 35
3.3.3 升壓電路 35
3.3.4 切換電路 36
3.3.5 致動元件 37
3.4 操作模式 39
3.5 整體架構 43
第四章 複合式動力 44
4.1 前言 44
4.2 動力平台 44
4.2.1 複合動力 44
4.2.2 平台功能 44
4.2.3 控制架構 47
4.3 操作模式分析 48
4.3.1 儲能分析與策略 49
4.3.2 釋能測試 61
4.4 本章結論 64
第五章 動力調控應用 65
5.1 前言 65
5.2 實驗設計 65
5.3 緩起步測試 66
5.3.1 測試動機 66
5.3.2 位置回授與切換 67
5.3.3 行為表現 68
5.3.4 能量結果與討論 71
5.4 高功率測試 73
5.4.1 測試動機 73
5.4.2 位置回授與切換 75
5.4.3 行為表現 75
5.4.4 功率結果與討論 77
5.5 本章結論 79
第六章 結論與未來展望 80
6.1 結論 80
6.2 未來展望 81
參考文獻 82
附錄一 符號對照表 84
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