CaPaMan2並聯式機械手臂之運動分析

Kinematic Analysis of the CaPaMan2 Parallel Manipulator

曹君豪(Chun-Hao Tsao)

指導教授 ： 劉昭華

淡江大學/工學院/機械與機電工程學系碩士班/碩士(2008年)

https://doi.org/10.6846/TKU.2008.01052

摘要

本研究推導出CaPaMan2並聯式機械手臂活動平台六個自由度間的運動限制條件(motion constraints)，並利用運動限制條件求出工作空間大小(work space)與驅動角度範圍(range of driving angles)。而運動限制條件微分所得的速度限制方程式則被用來尋找限制奇異位置(Constraint Singularities)。
本文亦利用機構的幾何關係，推導出CaPaMan2並聯式機械手臂的Jacobian矩陣，並利用此矩陣尋找機構的正向及逆向奇異位置(Direct Kinematic Singularities and Inverse Kinematic Singularities)。

關鍵字

CaPaMan2 ； 奇異位置 ； 工作空間

並列摘要

Moving platform’s motion constraints of the parallel manipulator CaPaMan2 are first derived in this thesis. These constraints are then used to find the manipulator’s workspace and the range of driving angles. Velocity constraints are obtained by taking the first time derivatives of the motion constraints, and constraint singularity positions may be defined as positions making Jacobian matrices in velocity constraints singular. In this study several constraint singularity positions ,as well as inverse and forward singular position, are determined.

並列關鍵字

CaPaMan2 ； singularities ； workspace

參考文獻

[1] J-P. Merlet, Parallel Robots, Kluwer Academic Publishers, 2000.

[2] M. Ceccarelli, ”A NEW 3 D.O.F. Spatial Parallel Mechanism”,

(Cassino Parallel Manipulator) As Sensored Earthquake Simulator”,

Proceedings of the 1999 IEEE/RSJ International Conference on Intelligent Robots and Systems, 1999, pp.1501-1506.

[4] C. Lanni, F. Pugliese, and Marco Ceccarelli, ” An Experimental Validation of CaPaMan as Earthquake Simulator”, Proceedings of the 2001 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, 8-12, Como, Italy, July, 2001, pp.153-158.