臺灣博碩士論文加值系統

隨著現代化工業的發展，機械手臂乃至於機器人[1]已然成為成熟的技術被廣泛的使用於生產、製造並隨著市場慢慢進入到生活中，而隨著需求的增加機械手臂的精度、體積、重要、效率也隨之提升要求[2]。本實驗室長期研究，使音圈致動器運用在相機自動對焦、防手震模組中，已可達到五自由度之控制，而本研究提出多自由度球形致動器，其可作為機械手臂關節末端之致動器、機器人眼，亦或是裝載雷射源，控制其發射角度。
致動器作為多自由度球形致動器中的關鍵技術[2]，磁路設計是為其根本所在，在各式模擬軟體的持續發展下，致動器的設計也不斷地改良與精進，同時也進一步提升了多自由度系統的開發與發展，然而在以往所見的多自由度系統中，如：機械手臂，於機構設計上多為單自由度致動器組合，滿足其多自由度運動，但這樣將造成其機構龐大、效率降低，甚至響應速度慢與定位不精準。
本研究基於音圈致動器之基礎理論，設計一具多自由度的X形軛鐵的球型致動器[3]，通過特殊的軛鐵與線圈的結合搭配磁鐵，透過SOLIDWORKS繪圖軟體進行設計建模與組裝，並使用ANSYS Maxwell有限元素分析軟體對其設計進行電磁模擬與磁路分析，並使用MATLAB與SIMULINK建立致動器動態數學模型與特性分析。本研究在完成模擬分析與數學模型建立後進行了雛型品的加工並量測扭矩以驗證其可行性與其性能。

With the development of the modern chemical industry, a robotic arm or even robot has become a mature technology widely used in production and manufacturing, and with the market slowly coming into life and with the increase in demand for robotic arm precision, size, importance, and efficiency also increase the requirements. Our laboratory has long researched using the voice coil actuator in the camera auto-focus and anti-shake module. It can achieve five degrees of freedom control. This research proposes a multi-degree-of-freedom spherical voice coil actuator, which can be used at the end of the robot arm joint, robot eye, or a laser source to control its emission angle.
As the key technology of the multi-degree-of-freedom actuator, the magnetic circuit design is the fundamental part of the actuator. However, this makes the mechanism huge, reduces efficiency, and leads to slow response speed and inaccurate positioning.
Based on the basic theory of voice coil actuator, this research designs a multi-degree X-shaped yoke spherical actuator with a unique combination of yoke and coil with magnets[3]. The design of the actuator was modeled and assembled using ANSYS Maxwell finite element analysis software. After simulation and mathematical modeling, the prototype was machined, and the torque was measured to verify its feasibility and performance.

摘要 I
ABSTRACT II
ACKNOWLEDGEMENTS III
CONTENT IV
FIGURE CAPTIONS VII
TABLE CAPTIONS XI
Chapter 1 1
INTRODUCTION 1
1.1 Research Background 1
1.2 Research Motivation and Objectives 2
1.3 Organization of the Dissertation 3
Chapter 2 5
LITERATURE REVIEW 5
2.1 Introduction of various types of actuators based on different principles. 5
2.1.1 Induction Actuator 5
2.1.2 Permanent-Magnet Actuator 8
2.1.3 Voice Coil Actuator 11
2.1.4 Piezoelectric Actuator 14
2.2 Comparison of the characteristics of various types of actuators 16
2.3 Analyzes various designs of multi-degree-of-freedom voice coil actuators. 19
2.3.1 A compact 4-degree-of-freedom fast steering mirror system 19
2.3.2 4-DOF Voice Coil Motor with Function of Reducing Laser Geometrical Fluctuations 22
2.3.3 Two-Degree-of-Freedom Actuator for Robotic Eyes 25
2.3.4 Novel Spherical Actuator With Two Degrees of Freedom 28
2.3.5 Three-Degree-of-Freedom Electromagnetic Actuator for Image Stabilization 32
2.4 Summary 35
Chapter 3 36
Fundamental Theory 36
3.1 Lorentz Force 36
3.2 Ampere's Law 38
3.3 Calculation of magnetic field strength of coils 41
3.3.1 Magnetic circuit model 41
3.3.2 Magnetic field calculation 42
3.3.3 Internal magnetic field strength 42
3.4 Summary 43
Chapter 4 44
Design and analysis of X-shaped yoke spherical actuator module 44
4.1 X-shaped yoke spherical actuator design objectives 44
4.2 Main structure of X-shaped yoke spherical actuator 46
4.3 X-shaped yoke spherical actuator overall structure 49
4.4 X-shaped yoke spherical actuator structure analysis 52
4.5 Dimensions of X-shaped yoke spherical actuator 53
4.6 Summary 56
Chapter 5 57
Simulation of X-shaped yoke spherical actuator 57
5.1 X-shaped yoke spherical actuator operating principle 57
5.1.1 Coil energized contrast description 57
5.1.2 The principle of tilting motion along the X and Y axes 64
5.2 Electromagnetic simulation of X-shaped yoke spherical actuator 67
5.3 Mathematical model of X-shaped yoke spherical actuator 72
5.4 Dynamic simulation of X-shaped yoke spherical actuator 75
5.5 Summary 83
Chapter 6 84
Experimental Results and Discussion 84
6.1 Production of experimental prototypes 84
6.1.1 Coil production 84
6.1.2 Production of X-shaped yoke spherical actuator parts 88
6.1.3 Experimental setup 92
6.2 Torque measurement experiment 96
6.2.1 Experimental equipment and procedure. 96
6.2.2 Experimental results and discussion. 99
6.3 Comparison with Other Actuator Designs 104
6.4 Summary 107
Chapter 7 109
Conclusion and Future Prospect 109
7.1 Conclusion 109
7.2 Future Prospect 111
References 114
Appendix A 126
Appendix B 127

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