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研究生： 黃聖元
Huang, Sheng-Yuan
論文名稱： 新型平移式並聯機構之設計與分析
Design and Analysis of Novel Translational Parallel Mechanisms
指導教授： 藍兆杰
Lan, Chao-Chieh
學位類別： 碩士
Master
系所名稱： 工學院 - 機械工程學系
Department of Mechanical Engineering
論文出版年： 2020
畢業學年度： 109
語文別： 中文
論文頁數： 139
中文關鍵詞： 並聯機構 、平移式並聯機構 、定值雅可比矩陣 、3-PRRR 、3-RRRRR 、3-P(2-SS) 、3-R(2-SS)
外文關鍵詞： Parallel Kinematics Mechanism, Translational Parallel Mechanism, Constant Jacobian, 3-PRRR, 3-RRRRR, 3-P(2-SS), 3-R(2-SS)
相關次數： 點閱：130  下載：0 
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    • 近年來，並聯機構已經被廣泛的應於在工業領域中，目前最被廣泛應用的並聯機構為三角機器人，採用3-P(2-SS)或是3-R(2-SS)運動鏈來達成三個線性的自由度。與串聯機構相比，三角機器人因為致動器固定與閉迴路運動鏈的優勢，使其在不犧牲剛性的情況下可以使用更輕量的桿件達到所需要的速度與精度需求。然而，因為三角機器人運動鏈複雜且雅可比矩陣非定值，會提升控制的難度。而且，三角機器人使用球接頭組成平行四連桿，直接連接至端效器的設計，一來會增加桿件長度；再者，球接頭剛性與耐久性較低，易磨耗產生間隙，不利於長時間運作且會有較差的精準度。對於有高速、高精度與高剛性的需求的工業領域，三角機器人的應用勢必會受到限制。
    為此，本文提出兩新型平移式並聯機構，分別為線性驅動之平移式並聯機構3-PRRR機構與旋轉驅動之平移式並聯機構3-RRRRR機構。避免使用球接頭之外，3-PRRR機構具有定值雅可比矩陣之優點，可降低控制難度與控制器成本；而3-RRRRR機構雖然沒有定值雅可比矩陣，但其運動學與機構特性與3-PRRR機構相似，兩機構與三角機器人相比之下，皆可使用更短的桿件來達到相同的工作空間，可以減少機構所需承受扭矩並降低機構高度。本文除了探討兩機構的相關運動學、工作空間與機構高度之外，透過本文所建立的3-PRRR機構與3-RRRRR機構之幾何參數決定流程進行原型設計與實作。並分析接頭間隙對於端效器位移的影響，依照軟體的模擬結果提出改善3-PRRR機構與3-RRRRR機構的方向。

    In industry, parallel kinematics mechanisms gradually replace the status of serial mechanisms, because of high stiffness, high accuracy, and low moving inertia. For example, Delta mechanisms, which are 3-P(2-SS) kinematics and 3-R(2-SS) kinematics in common have been applied to provide three translational degrees-of-freedom (DoFs) in picking and packing robots, haptic devices, 3D printers, and other industrial robots. However, the downside of the Delta mechanisms is that they typically allow smaller workspaces because of their complex and nonlinear kinematics. The nonlinear kinematics of parallel mechanisms are due to the Jacobian matrices that vary drastically according to the end-effector position. All these properties imposed constraints on current parallel mechanisms for industrial robots, which both the accuracy of force and position control are important.
    This paper presents two novel translational parallel mechanisms (TPM), the 3-PRRR TPM, and the 3-RRRRR TPM that provide three linear DoFs. Offering two new merits, which are constant Jacobian matrix and less height compared with existing Delta mechanisms. After analyzing the kinematics of the 3-PRRR TPM and the 3-RRRRR TPM, the effects of the joint clearances on the end-effector are also be considered. Using the result of simulating and analyzing the effects of the joint clearances on the end-effector, this paper also presents some directions to improve the performance of the 3-PRRR TPM and the 3-RRRRR TPM.

    摘要 II English Abstract III 致謝 XXI 目錄 XXII 表目錄 XXVI 圖目錄 XXVIII 符號說明 XXXIII 第一章 緒論 1 1.1 背景介紹 1 1.2 平移式並聯機構之文獻回顧及其應用 4 1.3 動機與目標 9 1.4 論文架構 11 第二章 線性驅動之平移式並聯機構設計 13 2.1 前言 13 2.2 構型選擇考量 13 2.3 3-PRRR機構之概念設計 15 2.4 3-PRRR機構之設計 17 2.4.1 3-PRRR機構之設計參數 17 2.4.2 3-PRRR機構中不同構型選擇 20 2.4.3 3-PRRR機構之運動式 21 2.4.4 3-PRRR機構之工作空間 28 2.4.5 3-PRRR機構之被動接頭 33 2.4.6 3-PRRR機構之機構高度 36 2.4.7 3-PRRR機構幾何參數的決定流程 40 2.5 3-P(2-SS)機構之介紹 42 2.5.1 3-P(2-SS)機構之運動式介紹 44 2.5.2 3-P(2-SS)機構之工作空間介紹 46 2.5.3 3-P(2-SS)機構之機構高度 48 2.5.4 3-P(2-SS)機構之幾何參數決定流程 49 2.6 本章小結 51 第三章 旋轉驅動之平移式並聯機構設計 55 3.1 前言 55 3.2 3-RRRRR構型之設計 55 3.2.1 3-RRRRR機構之設計參數 56 3.2.2 3-RRRRR機構之運動式 57 3.2.3 3-RRRRR機構之被動接頭 62 3.2.4 3-RRRRR機構之工作空間 64 3.2.5 3-RRRRR機構之機構高度 71 3.2.6 3-RRRRR機構之幾何參數決定流程 73 3.2.7 3-RRRRR機構與3-PRRR機構之比較 75 3.3 3-R(2-SS)機構之介紹 75 3.3.1 3-R(2-SS)機構之運動式介紹 76 3.3.2 3-R(2-SS)機構之工作空間介紹 80 3.3.3 3-R(2-SS)機構之機構高度 85 3.3.4 3-R(2-SS)機構幾何參數決定流程 87 3.4 本章小結 88 第四章 3-PRRR機構之原型設計 91 4.1 前言 91 4.2 第一型3-PRRR機構之原型設計 91 4.2.1 3-PRRR機構之驅動接頭與被動接頭的選用 92 4.2.2 第一型3-PRRR機構之設計與相關參數整理 94 4.2.3 第一型3-PRRR機構之原型實作 102 4.3 3-PRRR機構之參數誤差與間隙所造成的影響 103 4.3.1 3-PRRR機構之長度與角度誤差 103 4.3.2 3-PRRR機構間隙之影響 104 4.4 3-PRRR機構之第二型原型設計 109 4.4.1 第二型3-PRRR機構之設計與相關參數整理 109 4.4.2 第二型3-PRRR機構之原型實作 111 4.5 3-PRRR機構之間隙分析 111 4.5.1 3-PRRR機構之間隙分析配置 112 4.5.2 3-PRRR機構之間隙分析結果 113 4.6 本章小結 115 第五章 3-RRRRR機構之原型設計 117 5.1 前言 117 5.2 第一型3-RRRRR機構之原型設計 117 5.2.1 3-RRRRR機構之驅動接頭的選用 118 5.2.2 第一型3-RRRRR機構之設計與相關參數整理 118 5.2.3 第一型3-RRRRR機構之參數誤差與間隙所造成的影響 123 5.3 第二型3-RRRRR機構之原型設計 124 5.3.1 第二型3-RRRRR機構之設計與相關參數整理 124 5.3.2 第二型3-RRRRR機構之參數誤差與間隙所造成的影響 126 5.4 本章小結 127 第六章 結論與未來工作 128 6.1 結論 128 6.2 未來工作 130 參考文獻 132

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