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研究生： 賴志明
Lai, Chih-Ming
論文名稱： 以對拉式形狀記憶合金驅動之微型雙軸操縱器
A Two-Axes Miniature Manipulator Actuated by Antagonistic Shape Memory Alloys
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： 2013
畢業學年度： 101
語文別： 中文
論文頁數： 102
中文關鍵詞： 機械操縱器 、仿生驅動 、形狀記憶合金致動器 、對拉式致動 、視覺追蹤
外文關鍵詞： Robotic manipulators, Bio-inspired actuation, Shape memory alloy actuators, Antagonistic actuation, Visual tracking
相關次數： 點閱：113  下載：11 
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    • 本文提出一種雙軸的微型操縱器，可以沿兩垂直相交的軸方向作旋轉運動，分為旋轉機構及傾俯機構，分別由一對形狀記憶合金（簡稱形憶合金）對拉驅動。眾所皆知以形憶合金當作致動器，具有能量密度大和容易驅動的特性，這些優勢使它更適合應用於對尺寸和重量有嚴格要求的應用條件。透過改變溫度的方式，可使形憶合金產生類似肌肉的收縮與放鬆運動。只要有正確的設計和操作方式，形憶合金以對拉式致動，將比偏壓式致動具有更快的響應速度和更大的運動範圍。本文以實驗取得形憶合金的特性參數，並建立對拉式致動的數學模型，藉此確定操縱器所需要的參數，以便產生足夠的工作空間。針對給予形憶合金不同預應變，以及串接不同勁度彈簧於操縱器的影響進行研究，當給予適當的預應變，即能在維持相同運動量的情況下，有效地縮小致動器尺寸，此外，在對拉式致動的過程中，為了避免過負載的情況發生，可藉由串聯彈簧降低形憶合金的驅動應力，延長致動器的使用壽命。本研究將操縱器具體實現，且針對系統設計控制器，同時搭配抗鬆弛機制的運用，以此進行操縱器之速度與應力的量測，並於操縱器上裝配重量做負載實驗，確保操縱器的運動性能。最後，在此操縱器上裝設微型攝影機，測試其視覺追蹤的功能。

    This thesis presents a miniature manipulator that can provide rotations along two perpendicularly intersecting axes. Each axis is actuated by a pair of shape memory alloy (SMA) wires. SMA wire actuators are known for their large energy density and ease of actuation. These advantages make them ideal for applications that have stringent size and weight constraints. SMA actuators can be temperature-controlled to contract and relax like muscles. When correctly designed, antagonistic SMA actuators have faster response and larger range of motion than bias-type SMA actuators. This thesis proposes an antagonistic actuation model to determine the manipulator parameters that are required to generate sufficient workspace. Effects of SMA prestrain and spring stiffness on the manipulator are investigated. Taking advantage of proper prestrain, the actuator size can be made much smaller while maintaining the same motion. The use of springs in series with SMA can effectively reduce actuator stress. A controller and an anti-slack algorithm are developed to ensure fast and accurate motion. Speed, stress, and loading experiments are conducted to demonstrate the performance of the manipulator. Finally, the manipulator is mounted with a camera to show its application in visual tracking.

    摘要 I ABSTRACT III 誌謝 V 目錄 VII 表目錄 XI 圖目錄 XII 符號說明 XVIII 第一章 緒論 1 1.1 文獻回顧 1 1.1.1 形狀記憶合金文獻回顧 1 1.1.2 仿人眼機構文獻回顧 6 1.1.3 並聯機構文獻回顧 8 1.2 研究動機與目標 9 1.3 論文架構 10 第二章 形狀記憶合金建模 13 2.1 前言 13 2.2 SMA材料特性分析 14 2.2.1 材料特性 14 2.2.2 拉伸測試 16 2.3 SMA數學模型 19 2.3.1 一維構成方程式 19 2.3.2 相變動力模型 20 2.3.3 模型模擬結果 23 2.4 SMA致動方式 28 2.4.1 偏壓式致動 28 2.4.2 對拉式致動 29 第三章 微型操縱器設計與實現 35 3.1 前言 35 3.2 設計概念 35 3.3 微型操縱器設計 37 3.3.1 數學模型 37 3.3.2 設計參數分析 41 3.3.3 運動分析 45 3.4 微型操縱器實現 48 第四章 控制器設計與實作 51 4.1 前言 51 4.2 對拉式控制系統 52 4.2.1 模糊PID控制器 53 4.2.2 抗鬆弛機制 59 4.2.3 位移對角度轉換關係 60 4.3 位置控制實驗 61 4.3.1 實驗設置 62 4.3.2 不同預應變實驗 65 4.3.3 旋轉機構控制實驗 66 4.3.4 傾俯機構控制實驗 72 第五章 微型操縱器應用於影像追蹤 75 5.1 前言 75 5.2 影像處理 75 5.2.1 顏色篩選 75 5.2.2 影像形態學 76 5.2.3 物件標示 77 5.2.4 單一影像判斷實測 78 5.3 影像追蹤實驗 80 5.3.1 實驗設置 80 5.3.2 單軸步階響應 80 5.3.3 繞圓軌跡追蹤 82 5.4 深度測距法 83 5.4.1 平行式測距 83 5.4.2 交叉式測距 85 5.4.3 一般式測距 86 第六章 結論與未來工作 91 6.1 結論 91 6.2 未來工作 92 參考文獻 95 附錄A 儀器規格 101 著作權 102

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