進行取放操作需要具三個平移(3T)和一個旋轉(1R)自由度之機構，因此並聯式具Schöenflies運動機器人被提出，即擁有3T1R自由度之機器人，其旋轉方向多為垂直地面。並聯式機器人以多個運動鏈形成封閉迴路，雖然在桿件尺寸相同的情況下，並聯式機器人的工作空間相較於串聯式機器人較小，但並聯式機器人剛性較高且移動速度較快，適合用於須高速移動的取放產業，目前多使用於食品加工業和半導體產業，應用在半導體產時不僅需要上述提及的快速取放操作更需要優良之重複精度以及準確度，因此本文致力於提供高重複精度與準確度之並聯式機器人，相比於串聯式機器人，並聯式機器人可以較低之製造成本達成相同之重複精度量級。
本研究之並聯機器人主要分為驅動端稱為主動軸以及包含被動軸之並聯式機構，主動軸設計兩款聯軸器做搭配，撓性聯軸器可使主動軸具有力量感測功能增加使用之安全性而剛性聯軸器則可使主動軸具有更高之位置精度與響應速度，另外主動軸搭配高減速比之諧波齒輪達成輸出零間隙與高減速比獲得更高之主動軸位置準確度且達成主動軸高重複精度；並聯式機構各被動軸皆採用零間隙之連接方式並透過機械設計建構出高剛性之結構；本研究藉由高結構剛性、機構零間隙和主動軸之高重複精度完成高重複精度之端效器位置控制並進行驗證，與市面上Delta三角機器人相比重複精度有顯著提升。
除上述提及之四軸機器人結構設計，運動規劃亦是影響位置重複精度之因素，由於並聯式機構只有一主動軸其餘皆為被動軸，在主動軸到達指定位置時被動軸是否能到達相應之角度並靜止也是提升重複精度與準確度之因素，故改善原先對稱型15段正弦波速度規劃，修正為不對稱型15段正弦波速度規劃，降低被動軸因加速度造成之晃動。
位置準確度為機器人位置控制之要點，先為各桿件參數進行誤差分析，以便了解各誤差對於端效器位置之影響，後續透過實驗並以安裝在端效器上之編碼器獲得數據，將實驗數據和模擬之誤差分析進行比較，選出用以校正之誤差參數將所有誤差等效至所選之誤差參數並進行最佳化得修正之DH參數表，校正端效器位置準確度至目標內。

Parallel robots can use large actuators fixed to the base to provide larger driving torque without affecting the moving inertia. Hence, parallel robots are suitable for picking and placing large payloads at high speeds. To ensure pick-and-place applications are productive, a parallel robot must show high pose repeatability and short stabilization time. This thesis investigates the structural compliance, dynamics, and control of a new Schönflies-motion parallel robot. The aim is to achieve high-speed and high-payload motions with high pose repeatability with short stabilization time. The use of only revolute joints can eliminate the clearance problem and make the robot stronger. Asymmetric jerk profiles are proposed to significantly reduce the residual vibration during the stopping motion. Experiments of stabilization time, pose repeatability, and high payload are given to show the merits of the parallel robot over existing counterparts. The pose accuracy can also be greatly improved through kinematic calibration. The findings suggest that this new parallel robot can advance pick-and-place automation.

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