網際史都華平台機構逆運動學分析與模擬

本論文主要為設計一套網際史都華平台機構模擬系統，利用逆向運動學推導出史都華平台在空間中的運動方程式，計算出刀具通過空間特定路徑時，六具伺服致動器各自所需的伸縮量，進而使史都華平台在虛擬環境中達成運動模擬。本系統本體由Java程式語言建構而成，透過Java程式語言跨平台之特性，故結合網際網路讓使用者可使用瀏覽器操作本系統，其虛擬環境是透過JOGL（Java OpenGL）的3D繪圖函式庫所開發而成。再者，將零組件讀取與繪製加入虛擬環境中，其中系統內的零組件皆為STL檔案格式，並可依照使用者需求變更零組件尺寸，利用資料庫內的零件參數定位出零組件在虛擬環境中的空間位置，建構出虛擬史都華平台外型。透過網路瀏覽器讓使用者操作史都華平台，達成可動平台的平移與傾斜，最終讓使用者輸入路徑參數，進行史都華平台的刀具路徑模擬，進而驗證本系統之正確性與實用性。

關鍵字

逆向運動學；史都華平台；虛擬機構； JOGL(Java OpenGL)

並列摘要

In this research, a web-based kinematics simulation system of the Steward Platform is developed. The system equations were derived by using the inverse kinematics analysis and solved to find the six actuators' displacement at each moment to ensure that the end-effector of the platform to pass the designated path. The simulation system is developed by using the Java programming language. Due to the cross platform feature of Java, it can be implemented not only in different operation systems but also allow user to operate this system by using the web browser with Java virtual machine. Three-dimensional animation of the system is achieved in JOGL class library. In addition, the system component can be replaced and imported into the virtual environment in STL format. In this way, users can manipulate the dimension of the system components during the design process to construct customized virtual Steward Platform for specific simulation. Visual monitor of the system can therefore being controlled through panning, rotating and zooming functions as well as performing user-input trajectory planning to verify the usefulness and correctness of the system.

並列關鍵字

inverse kinematics ； Stewart Platform ； virtual mechanism ； JOGL(Java OpenGL)

參考文獻

[23] 莊錦煌，2004，“六軸微動平台之靜態誤差探討”，碩士論文，中原大學機械工程學系，台灣桃園。

[27] 許哲菘，2010，“網際六軸機械臂系統的逆運動學分析與模擬”，碩士論文，國立虎尾科技大學機械與機電工程研究所，台灣雲林。

[2] D.C.Yang and T.W.Lee, 1984, “Feasibility study of a Platform Type of Robotic Manipulators form a Kinematic Viewpoint”, Journal of Mechanisms, Transmissions, and Automation in Design, Vol. 106, pp. 191-198.

[3] E.F.Fichter, 1986, “A Stewart Platform-Based Manipulator: General Theory and Practical Construction”, International Journal of Robotics Research, pp. 157-182.

[4] Nguyen, C. C., Antrazi, S. S., Zhou, Z.-L., and Campbell Jr., C. E., 1993, “Adaptive Control of a Stewart Platform-based Manipulator”, Journal of Robotic Systems, Vol. 10, no. 5, pp. 657-687, July.

國際替代計量

網際史都華平台機構逆運動學分析與模擬

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