一種適用於小範圍平面運動之新型二維機構設計

本文主要目標為設計一個二維運動機構可應用於跑步機的人臉追蹤，在傳統二維運動的機構大多採用X-Y平台或五連桿的方式，在X-Y平台方面，則會採皮帶或螺桿的形式來傳動，但是這兩種設計往往需要較大的空間，且無法同時滿足精度及速度的要求；而五連桿的設計中，因耦點軌跡為高階曲線，軌跡設計不易；本文目的是設計一種機械結構簡單且緊湊的二維機構。本文所提出的二維機構是以偏心凸輪為基礎，此機構可用於小範圍的平面運動，該機構的結構簡單且緊湊，本文利用Solidworks來輔助模擬其運動，此外，亦利用3D列印來製作，在驗證平台中以電位計做為位移的量測，來進行軌跡效能量化的比較，來評估機構作動的精確性；該機構移動軌跡為簡諧曲線，故便於運動軌跡的規劃，此外，本文亦推導其動力方程式來輔助驅動馬達的選取，之後若與二維感測器結合，更可應用於平面的追蹤控制。

關鍵字

二維機構；跑步機；偏心凸輪；平面運動

並列摘要

The main objective of this paper is to design a two-dimensional motion mechanism that can be applied to face tracking of the treadmill. In terms of X-Y platform, it will be driven in the form of belt or screw, but these two designs often require a large space and cannot meet the requirements of accuracy and speed at the same time. In the design of five-linked rod, the track is not easy to design because the coupling point track is a high-level curve. The purpose of this article is to design a two-dimensional mechanism with a simple and compact mechanical structure. The two-dimensional mechanism proposed in this article is based on an eccentric cam, which can be used for small range of plane motion. The structure of this mechanism is simple and compact. This paper uses Solidworks to assist in simulating its motion; in addition, we also use 3D printer to make the mechanism. For verification, we use potentiometer as the displacement sensor to measure the displacement for trajectory performance comparison. In addition, we also derive its dynamic equation to assist the selection of the drive motor. Later, if combined with the 2D sensor, it can be applied to the tracking control of the planar motion.