- 學位論文
彈性桿件對於3-RUU並聯式機械手臂靜態定位之影響
The Effect of Flexible links to Positioning on 3-RUU parallel manipulator
摘要
本論文目的是探討彈性桿件對於3-RUU並聯式機器手臂靜態定位之影響，因為機械手臂之桿件實際上並非剛體結構，所以會受到重力或是外力作用，而產生桿件撓曲變形，以致機械手臂在定位時會有誤差。首先根據該機械結構定義座標系統與轉換矩陣，以描述桿件的姿態變化，並探討此機構之工作空間(Workspace)範圍。接著考慮桿件之彈性效應，經由逆向方程式推導，得知機械手臂定位與姿態之關係，再以靜力平衡理論及桿件剛性矩陣之建立，計算桿件的變形向量。最後藉由並聯式機構末端連接點位置相同之限制條件，推導系統的誤差方程式，並透過MATLAB數值分析運算，進行此方程式的非線性求解，再依MATLAB模擬結果來探討此系統靜態定位誤差的分佈及特性。
並列摘要
The purpose of this paper is to discuss the effect of flexible links to positioning on 3-RUU parallel manipulator. Since the links of manipulator are not rigid body, it will result in elastic deformations like manipulator position error that caused by gravity, external force. Firstly, in order to describe manipulator postures, the coordinate system and transformation matrix both are established based on the mechanical structure, and the workspace of the manipulator is discussed. Then, taking into account the links flexibility, the inverse kinematic equations are derived to obtain the relationship between positioning and posture of the manipulator, and to calculate the elastic deformations of link using the static equilibrium and stiffness matrix. Finally, through the same constraint condition on the end point of the parallel mechanism to derive the error equations that can be solved using the numerical analysis of MATLAB. In addition, simulations of the error distribution of the mechanism are also presented in this paper.