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三自由度三軸並聯式運動平台之機構剛性分析

Analysis of Mechanism Stiffness for a 3 Axes Parallel Motion Manipulator with 3-DOF Z α β

摘要


本研究主要探討一台具有三個自由度Z、α、β的三軸平行運動平台的機構剛性。在機構設計中,為簡化機構致動軸設計的複雜性,將三根致動軸以平躺方式安裝在基座上,且三根致動軸的軸線相互平行,藉由三根致動軸的前進後退,以達到可動平台的姿態Z、α、β的變換。在研究中推導平行機構的逆向運動學,再運用逆向運動學計算機台的工作空間,並以虛功法分析此機構在各姿態的結構剛性及各致動軸剛性分布,以提供設計人員最佳結構設計參考。

關鍵字

平行機構 三自由度 剛性 虛功法

並列摘要


This study proposes analysis of mechanism stiffness for a 3-axis AC servo motor parallel motion platform with 3-DOF Z 、α、β. To simplify the complexity of actuator of mechanism, the 3-actuators are designed to lay down the base platform and the actuators that guide the sliders of the prismatic joints are parallel to each other. Inverse kinematics and work space of this mechanism will be calculated and the stiffness of mechanism that offers a designer to consult for optimal structure design will be analyzed by using virtual work principle in this study.

並列關鍵字

Parallel Mechanism 3-DOF Stiffness Virtual Work

被引用紀錄


胡高銓(2013)。實境虛擬之運動健身器系統建置〔碩士論文,國立臺北科技大學〕。華藝線上圖書館。https://www.airitilibrary.com/Article/Detail?DocID=U0006-1408201320372600

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