CaPaMan2 3-DOF 並聯式機械手臂正向位置分析

Direct Position Analysis of the 3-DOF CaPaMan2 Parallel Manipulator

丘世昌(Shih-Chang Ciou)

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(2006年)

https://doi.org/10.6846/TKU.2006.00984

摘要

本研究針對三自由度並聯式機械手臂CaPaMan2及CaPaMan3，尋找其正向位置分析的解析解。解題過程首先是將原機構簡化為等效3RS機構，在此等效機構的座標系之內，利用活動平台上之球窩接頭間的距離為已知長度，可推導出三個多項式方程式，接著利用席維斯透析消去法(Sylvester dialytic elimination method)求得解答。在求得解答後，本研究亦利用圖形法進行逆向位置分析，以驗證正向分析之解答。

關鍵字

CaPaMan2 ； CaPaMan3 ； 並聯式機械手臂 ； 正向位置分析

並列摘要

In this study analytical results for displacements of 3dof parallel manipulators CaPaMan2 and CaPaMan3 are obtained. The manipulators are firstly simplified into a 3RSmanipulator. Then in the simplified manipulator’s coordinate system three algebraic equations are obtained which constrain the distance between any two spherical joints on the moving platform to be a known value. Analytical solutions are obtained by using the Sylvester dialytic elimination method. Graphical inverse position analysis are also performed to verify the results.

並列關鍵字

CaPaMan2 ； CaPaMan3 ； direct displacement analysis ； direct kinematics ； parallel manipulators ； parallel robots

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”, Mechanism and Machine Theory, Vol. 32, No. 8, 1997, pp.895-902.

[3] M. Ceccarelli, F. Puglise, C. Lanni, and J.C.M. Carvalho, “CaPaMan (Cassino Parallel Manipulator) As Sensored Earthquake Simulator”, Proceedings of the 1999 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 1501-1506.

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

[5] M. Ceccarelli, E. Ottaviano, and M. Galvagno, “A 3-DOF Parallel Manipulator as Earthquake Motion Simulator”, Seventh International Conference on Control, Automation, Robotics And Vision (ICARCV’02), Singapore, Dec, 2002, pp. 944-949.