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研究生： 羅永辰
Sylvestre, Romain
論文名稱： 具撓性臂並聯式平面五聯桿機械臂設計與動態建模
Design and Dynamic Modeling of a 5-Arm Parallel Robot with Flexible Arms
指導教授： 陳介力
Chen, Chieh-Li
學位類別： 碩士
Master
系所名稱： 工學院 - 航空太空工程學系
Department of Aeronautics & Astronautics
論文出版年： 2018
畢業學年度： 106
語文別： 英文
論文頁數： 68
外文關鍵詞： Simulink, Modeling, Robot Arm, Flexible Arm, Parallel Robot
相關次數： 點閱：76  下載：3 
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    • The 5R parallel manipulator is built of five bars and five revolute joints, where the two revolute joints that are attached to the base are actuated. Such a manipulator can be utilized in high-speed machine tools or as a drilling machine and laser drawing. Considering the promising characteristics of parallel manipulators, and lightweight manipulators, 5R parallel manipulators with four lightweight links are developed, to provide an alternative high-speed pick-and-place positioning mechanism to serial architecture manipulators. Lightweight linkages may exhibit structural defection and vibrate because of the inertial forces from high velocity motion, and external forces from actuators. Structural flexibility impacts are considerably more articulated at high operational velocities and accelerations.

    The thesis proposes a technique of building and simulation of 2 DOF (degree-of-freedom) parallel manipulator with flexible linkage in view of Matlab / SimMechanics, and its direct and inverse kinematics is developed. Numerical simulations of the mechanism are done based one the models made and the desired trajectory and law of motion choses. Essential outcomes got from the simulation are talked about, giving specific consideration to the position error. Toward the end, a thorough conclusion of the whole work is offered and important proposal are forwarded.

    ABSTRACT iii Acknowledgements iv Table of Contents v Table of Figures vi CHAPTER I 1 INTRODUCTION 1 1.1 Thesis Motivation 1 1.2 Literature Review 5 1.3 Parallel Robot Manipulator 6 1.3.1 Dynamic Modeling of Robots and Mechanisms with Link Flexibility 7 1.3.2 Dynamic Modeling of Manipulators using SimMechanics 14 1.3.3 Vibration Control of Flexible Robot and Mechanical Systems 15 1.4 The objective 16 1.5 Thesis Overview 16 CHAPTER 2 18 PARALLEL ROBOT KINEMATIC ANALYSIS 18 2.1 Introduction 18 2.2 Inverse Kinematics 19 2.3 Forward Kinematics 22 2.4 Jacobian Matrix and Singularity Analysis 24 2.5 Workspace of the robot 30 2.6 Summery 32 CHAPTER 3 34 3.1 Introduction 34 3.2 SimMechanics 35 3.3 Modeling the Rigid 5R Parallel Manipulator in Catia 36 3.4 Creating SimMechanics Model from Catia Model 37 3.5 Trajectory planning 41 3.6 Simulation results 42 3.7 Summery 45 CHAPTER 4 47 4.1 Introduction 47 4.2 Modeling of the Parallel Robot with Flexible Links 49 4.3 The Lumped-Parameter Method 50 4.4 Numerical Simulation and Analysis 54 4.5 Summery 59 CHAPTER 5 61 5.1 Thesis Summary 61 6.2 Future work 61 References: 63 Table of Figures Figure1.1 A serial manipulator 2 Figure 1. 2 A parallel manipulator 2 Figure 1. 3 A manipulator with flexible links 3 Figure 1. 4 A manipulator with rigid links 3 Figure 1. 5 Catia model of 5R parallel manipulator 5 Figure2.1 Catia model of the 5R parallel manipulator 20 Figure 2.2 General Kinematic Scheme of a 5R Parallel Robot 22 Figure 2.3 The four inverse kinematic models: (a) “+ -” model; (b) “- +” model; (c) “- -” model and (d) “+ +” model. 23 Figure 2.4The two forward kinematics models: (a) the up-configuration and (b) the down configuration. 24 Figure 2.5 The theoretical workspace is shown as the hatched region. 31 Figure 2.6 The simulation of maximum workspace for 5R parallel Manipulator. 32 Figure3.1Catia model of rigid 5R parallel manipulator 37 Figure 3.2 CAD to SimMechanics transformation sequence 37 Figure 3.3 SimMechanics model of the 5R rigid parallel Manipulator translated from solid work 38 Figure 3.4Physical model of rigid five-bar linkage 5R parallel manipulator in SimMechanics 39 Figure 3.5SimMechanics model of rigid parallel Manipulator with sensor and actuator 40 Figure 3.6 Simulink Open-loop model of the rigid 5R parallel Robot 40 Figure 3.7 2D trajectory generation of circle for the 5R parallel robot in MATLAB/Simulink 41 Figure 3.8 Motion low for the reference end effector trajectory 42 Figure 3.9 Reference and Actual End effector 2D plot of trajectory for the rigid 5R parallel robot from MATLAB 43 Figure 3.10 Reference and Actual End-effector X-trajectory 44 Figure 3.11 Reference and Actual End-effector Y-trajectory 44 Figure 3.12 Revolute joint motion 52 Figure 4.1 SimMechanics model of a 5R parallel Manipulator with flexible links 50 Figure 4.2 SimMechanics model of the Flexible link 52 Figure 4.3 Block parameters of flexible element 52 Figure 4.4 Model of Generalized beam element in SimMechanics 53 Figure 4.5 SimMechanics Model of Bending around Z direction 53 Figure 4.6 Simulink open loop model of the 5R parallel robot with flexible links 53 Figure 4.7 Physical model of five-bar linkage 5R parallel manipulator with flexible links in SimMechanics 55 Figure 4.8 Reference and Actual End effector 2D plot of trajectory for 5R parallel robot with flexible links from MATLAB 55 Figure 4.9 Reference and Actual End effector X-trajectory 56 Figure 4.10 Reference and Actual End effector X-trajectory 56 Figure 4.11 Error between Reference and Actual End effector trajectory for X & Y 57 Figure 4.12 Revolute joint motion for the flexible link 57 Figure 4.13 Angle between the flexible links 58 Figure 4.14 High speed response 66 Figure 4.15 Slow speed response 66

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