具撓性腱驅動機構之撓性分析與腱拉力控制

COMPLIANCE ANALYSIS AND TENDON FORCE CONTROL FOR TENDON-DRIVEN ROBOTIC MECHANISMS WITH FLEXIBLE TENDONS

顏宏哲(Home-Che Yen)

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(2004年)

https://doi.org/10.6342/NTU.2004.01504

摘要

本文之內容為進行具撓性腱驅動機構之撓性分析與腱張力控制。在撓性分析方面，本文根據撓性腱之特性進行系統化之腱驅動機構位移分析、力量分析與系統剛性分析。由位移分析之結果可得知，腱之線位移與桿件角位移及腱伸長量間之關係。由力量分析之結果可得知，腱拉力與接頭力矩之關係。由系統剛性分析，本文推導機構系統之剛性矩陣與撓性矩陣。此外，本文亦進行腱驅動機構系統之動態特性分析。經由對系統動力方程式進行分析與區域線性化之步驟後，即可迅速求得系統之共振頻率與模態等系統動態特性。在腱張力之控制方面，本文利用人造位能場之概念及Lyapunov之穩定性理論進行腱驅動機構控制器之設計。本文所設計之控制器能使機構達成預期之運動，並改善腱鬆弛之現象。

關鍵字

人造位能場 ； 具撓性腱驅動機構 ； 剛性矩陣 ； 區域線性化

並列摘要

In this thesis, the compliance analysis and tendon force control for tendon-driven robotic mechanisms with flexible tendons are performed. In the compliance analysis, the kinematic analysis for mechanisms with flexible tendons is established using the fundamental circuit equation. Subsequently, relations between the force and displacement are derived and the stiffness compliance matrix of the mechanism is studied. Dynamic equations of this system are also analyzed and resonant frequencies of this system are derived through local linearization of the dynamic model. In the tendon force control, the artificial potential field concept and Lyapunov stability theorem are used to design the controller for tendon-driven robotic mechanisms. It is shown the controller designed allows the robotic system to follow the desired trajectory and improve the tendon slack problem.

並列關鍵字

flexible tendons ； resonant frequency ； flexible tendons ； resonant frequency ； tendon-driven mechanismstendon-driven mechanisms

參考文獻

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