臺灣博碩士論文加值系統

操控性、工作空間及機械效率為設計工業機器人最常用到之參考指標，而目前已有很多方法可用來搜尋具有最佳操控性、最大工作空間或是最佳機械效率之設計，本文將提出之設計方法將同時考慮到這三個因素。
以正位移分析求得三自由度並聯式機器人工作空間為最有效率之方法，但目前所有之方法皆無法直接決定工作空間之邊界，本文首先利用工作空間邊界曲面之特性提出以正位移分析來快速求得對稱型並聯式機器人工作空間之方法，提出之方法首先用來搜尋多組能夠到達指定工作範圍之設計衡量及比較這些機器人之整體等向性及機械效率以得到具有較佳運動特性之最佳設計，所提出之方法適用於各種不同類型之三自由度並聯式機器人。

Dexterity, workspace and mechanical efficiency are three of the most important criteria in designing industrial manipulators. A manipulator with optimal dexterity, workspace or mechanical efficiency can be developed by many existing methods. This work presents methods that employ all the three criteria to search for manipulators with desired properties.
Direct kinematics is an efficient way to develop the workspace of a 3-DOF parallel manipulator, but the existing methods cannot directly obtain the boundary of the workspace. Using the characteristics of workspace boundaries and direct kinematics, the proposed methods can efficiently determine the boundary of a workspace. The methods are first employed to search for several isotropic designs with a specified workspace. The global isotropy and mechanical efficiency are then evaluated and compared in order to develop the design with better kinematic properties. The methods are applicable to different types of 3-DOF parallel manipulators.

中文摘要 I
Abstract II
誌謝 III
目錄 IV
圖表索引 VII
第一章 前言 1
1.1研究動機 1
1.2文獻回顧 2
1.3文章架構 4
第二章 理論基礎 6
2.1 Denavit-Hartenberg 連桿參數 6
2.2 Denavit-Hartenberg 齊次轉換矩陣 7
2.3 條件數 8
2.4 二分法 9
2.5 螺旋理論 10
第三章 三自由度並聯式機器人運動空間 13
3.1 工作空間邊界曲面之特性 13
3.2求解邊界曲面及工作空間 18
3.3 連桿參數及正位移分析 20
3.3.1 RPS及RRS構型 20
3.3.2 Delta構型 23
3.4 數值範例 25
3.4.1 3-RPS機器人 25
3.4.2 3-RRS機器人 28
3.4.3 Delta機器人 31
3.5 小結 34
第四章 並聯式機器人工作空間操控性與機械效率之分析 35
4.1 等向性設計 35
4.2 操控性曲面 43
4.3 靜力分析 49
4.3.1 3-RPS並聯式機器人 49
4.3.2 3-RRR Delta型機器人 51
4.4 較佳設計 54
4.4.1 RPS並聯式機器人 54
4.4.2 Delta機器人 60
4.5小結 66
第五章 結論與未來方向 67
參考文獻 69
附錄A 反位移分析求得3-DOF並聯式機器人邊界曲面之方法 71
附錄B 3-RPS並聯式機器人賈式矩陣 75

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