Delta機器人之運動規劃與系統識別

Motion Planning and System Identification of Delta Robot

蔡維玲(Wei-Ling Tsai)

指導教授 ： 李志中

國立臺灣大學/工學院/機械工程學研究所/碩士(2014年)

https://doi.org/10.6342/NTU.2014.10858

摘要

Delta機器人為一種由基座、數條運動鍊及移動平台組成的並聯機械手，在工業應用上已廣泛應用，尤其廣泛應用於需要高精度和高速的取放功能。
本論文首先研究了Delta機器人的運動規劃與系統識別。介紹多種Delta機器人端效器的路徑，並使用單自由度系統說明使用不同運動軌跡時系統呈現出的振動現象。接著，將不同軌跡實際應用於Delta機器人，藉以修正和比較各種運動規劃所造成的餘振。本文的第二部分識別馬達響應的動態特性，推導出馬達響應的轉移函數並對實際系統進行實驗。

關鍵字

Delta機器人 ； 運動學分析 ； 動力學分析 ； 運動規劃 ； 系統識別

並列摘要

Delta robot is a kind of parallel manipulator composed with a fixed base, number of kinematic chains and a moving platform. Delta robot has been widely used in industrial applications, particularly used in high-precision and high-speed pick and place motion.
This thesis first studies the trajectory planning and system identification of Delta robot. Various paths for the motion of the moving platform of Delta robot are introduced. A one-DOF system is used to illustrate the vibration when different motion trajectories of the system are implemented. Subsequently, these trajectories are then implemented on the motion of Delta robot. The residual vibrations caused of various motion planning are recovered and compared. In the second part of the thesis, the dynamic characteristics of the motor responses are identified. The transfer functions of the motor responses are then derived and experiments for real systems are conducted.

並列關鍵字

Delta robot ； kinematic analysis ； dynamic analysis ； motion planning ； system identification

參考文獻

[1] L. W. Tsai, Robot Analysis- The Mechanics of Serial and Parallel Manipulators, New York: JOHN WILEY & SONS, INC., 1999.

[2] D. Stewart, "A platform with 6 degrees of freedom," Proceedings of the Institution of Mechanical Engineers, vol. 180, no. 1, pp. 371-386, 1965.

[3] M.A. Laribi, L. Romdhane, S. Zeghloul, "Analysis and dimensional synthesis of the DELTA robot for a prescribed workspcace," Mechanism and Machine Theory, vol. 42, pp. 859-870, 2007.

[4] Z. Affi, L. Romdhane, A. Maalej, "Dimensional synthesis of a 3-translational-DOF in-parallel manipulator for a desired workspace," European Journal of Mechanics A/Solids, vol. 23, pp. 311-324, 2004.

[5] P. Vischer, R. Clavel, "Kinematic calibration of the parallel Delta robot," Robotica, vol. 16, pp. 207-218, 1998.