在工廠自動化夾取越來越熱門下，機械手臂或機器人成為自動化趨勢下的必要工廠配置，其中具備高移動速度與高精度的並聯式機構是目前各家廠商研究對象，有鑑於市售並聯式機器人多採用球接頭導致機構撓性較高，容易因負載變形進而影響位置精度，因此本文發展3-UPU平移並聯式機器人，將應用於夾取高質量物品，並在以低撓性為主要設計目標下，針對機器人的接頭撓性設計及軸承的選用，制定相關標準化流程。另外本文也針對3-UPU並聯式機器人開發撓性評估方法，此撓性評估法不僅使設計者能快速得到機構撓性，有利於機構達到設定之撓性目標，亦可計算機構不同撓體組件之撓性貢獻度，提供設計者強化之對象與設計方向。由於並聯式機構之端接器由多個運動鏈所控制，造成影響端接器的負載位移因素眾多且極其複雜，其中桿件與接頭撓性為兩個主要因子，不像串聯式手臂可使用大尺寸的接頭降低機構撓性，並聯式機構有接頭干涉問題，無法有效強化接頭撓性，表示接頭撓性影響甚巨，所以本文將3-UPU機器人之撓性模型，簡化等效為四種接頭串聯的撓性系統，並且以商業軟體驗證該撓性模型正確性。
除了探討並聯式機器人的撓性外，本文也針對並聯式工具機進行研究，希望設計一台低撓性之3-UPU並聯式工具機，以應用於車銑複合五軸加工，並研究工具機之靜態撓性 ，以撓性模型預測工具機於工作空間內各方向撓性，進行接頭的設計改善與加強，同時評估目前選用的接頭軸承，配合商用軟體模擬端接器的撓性，進而制定工具機的目標撓性，再依據撓性目標選用適合之軸承，最後歸納降低工具機撓性之方式。

Sufficiently low compliance is required for robot end-effectors to perform various tasks with high static and dynamic accuracy. The joint compliance and link compliance of robots are the two major factors for the determination of overall end-effector compliance. Unlike serial robots that can allow larger joint sizes to improve the joint compliance, the joints of parallel robots are usually closely located and hence the joint size cannot be easily increased. Compared with the link compliance, the joint compliance of a parallel robot contributes more to the end-effector compliance, but its importance is often overlooked. To reduce the computational intensity of robot compliance design, analytical joint compliance models are proposed for the class of 3-UPU parallel robots. These joint compliance models can be used to quickly evaluate the compliance contribution of each revolute joint at various parallel robot configurations. Numerical and experimental verifications are provided to demonstrate these models. We expect that the design of 3- UPU parallel robot compliance can be facilitated by using the proposed joint compliance models.

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