3-CRU平移型並聯式機械手臂之運動分析

Kinematic Analysis of 3-CRU Translational Parallel Manipulator

吳承學(Cheng-Syue Wu)

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.2008.01055

摘要

本文將提出一種新型式的三自由度純平移並聯式機械手臂，此並聯機構主要是由固定於基座的圓柱接頭、連接肢幹上兩桿件的旋轉接頭、與連接活動平台的萬向接頭所組成，簡稱為3-CRU平移型並聯式機械手臂。
在運動分析方面，本論文首先根據此並聯式機械手臂之組裝條件推導出運動限制，共有三條多項式方程組，可尋找出正逆向運動分析之閉合解(closed-form solutions)，接著再利用逆向運動分析去驗証正向運動學的正確性。最後，再進一步分析此機構在不同高度時工作空間之區域範圍。

關鍵字

3-CRU平移型 ； 平移型並聯式手臂 ； 運動分析 ； 並聯式手臂

並列摘要

A new 3 degree-of-freedom translational parallel manipulator is proposed in this thesis. This manipulator consists of three cylindrical joints fixed to the base, three revolute joints that connect two links in each limb, and three universal joints connect the limb to the moving platform. The manipulator is hence called a 3-CRU translational parallel manipulator.
Loop closure equations of the three limbs lead to kinematic equations for forward position analysis. They are three polynomial equations from which closed-form equations may be obtained. Forward kinematics results may be verified by inverse kinematics results. Finally, manipulator’s workspace is shown for various platform heights.

並列關鍵字

3-CRU translational ； translational parallel manipulator ； kinematics analysis ； parallel manipulators ； parallel robots

參考文獻

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