精密多功能機器人節能實驗平台的研發與實作

Development of Precision and Multifunction Experiment Platform for Robot Manipulatoron on Energy Saving

許裕昌(Yu-Chang Hsu)

指導教授 ： 鄭璧瑩

國立交通大學/工學院/工學院精密與自動化工程學程/碩士(2014年)

https://doi.org/10.6842/NCTU.2014.01026

摘要

科技日新月異，許多科學家不斷致力研究機器人及機器人來取代人力的使用，因此大量的機械人便廣泛地運用在工業領域上，如噴漆、焊接、組裝、搬運等等各種不同性質的工作上。因為機器人對於執行任務上具有高效率、穩定性及高精度等優點，故機器人多是執行重覆性工作為主，如果在每次週期運動可以使用較少能量而達成所需動作時，在長時間運轉下所減少的能量消耗就可以有效節省運作成本，而較少能量可以是減少機器人抖動或是降低馬達電流輸出等等。
本研究主要承襲過去交大CIDM實驗室所研究的五連桿平行機構手臂模型設計重新規劃製作，並將機器人尺寸規格放大至可供業界實務應用的進階型機器人(NCRP2014)。軌跡規劃上首先採用多體動力學Recrudyn軟體模擬機器人在多種姿態下的速度、加速度及扭力等項目的運動特性探討，再使用本研究所建立的多功能NCRP2014機器人實驗平台進行實驗驗證。實驗中針對多項控制因子規劃實驗項目，以田口方法分析數據找出精度、穩定性及最小能量消耗之最佳參數組合，並應用影像位移檢測系統進行最佳參數驗證，進而達到機器人節能與提高運動精度目的，本研究所研發的精密機器人多功能實驗平台可提供多種用途的機器人設計評估等應用。

關鍵字

機器人實驗平台 ； 軌跡規劃 ； 精密 ； 節能 ； 田口方法

並列摘要

This study proposed to develop a precision and multifunctional robot
performance testing platform for investigating the energy saving trajectory
with better motion and control parameters. The robot platform is modeled as a
five DOF system with a part of five links mechanism, one of the heavy
motors is set on the lower link near the base for reducing the loading of the
motors on the base links. All the mechanical parts and gear sets are carefully
design for the purpose of precision applications.
An one-tenth scale robot model was constructed firstly for several
pre-testing cases before the developed of the real model. In the pretesting stage, some typical experiments are implemented, such as (1) motor quality consistency, (2) energy saving trajectory verification, (3) path precision test and (4)equivalent tension support test etc. Based on the pre- study data and quality information, the proposed real model of the robot platform named as NCTU CIDM Robot Platform 2014 (NCRP2014) was thus designed and built up for advanced experiment study. For precision and energy saving consideration, the optimal control trajectory parameters were investigated by using Taguchi method. Quite a few experiment items were planned to search for the best combination of the four major parameters requested by the control system, such as (1) acceleration factor (2) position interval (3) feed rate (4) speed model etc. Several examples based on the best combination of parameters have been demonstrated to be the efficiency improvement on energy saving issues.

並列關鍵字

Manipulator experiment platform ； Trajectory planning ； Precision ； Energy saving ； Taguchi method

參考文獻

[2] Asada, H., and Youcef-Toumi, K., 1984, "Analysis and Design of a Direct-Drive Arm With a Five-Bar-Link Parallel Drive Mechanism," Journal of Dynamic Systems, Measurement, and Control, 106(3), pp. 225-230.

[3] Youcef-Toumi, K., and Kuo, A. T. Y., 1989, "Design and control of a high-speed direct-drive manipulator," International Journal of Production Research, 27(3), p. 375.

[4] Yanjie, L., Lining, S., Degang, J., Zhenwei, A., and Hegao, C., "Fast-motion trajectory generation for a new direct-drive planar parallel manipulator," Proc. Advanced Intelligent Mechatronics. Proceedings, 2005 IEEE/ASME International Conference on, pp. 1488-1493.

[7] Zi B, C. J. Z. Z., 2011, "Dynamic simulation of hybrid-driven planar five-bar parallel mechanism based on simmechanics and tracking control," Int. J. Adv. Rob. Syst. International Journal of Advanced Robotic Systems, 8(4), pp. 28-33.

[8] Wang H, X. Y. L. Y. L. Z., 2010, "Dynamic modeling of five-bar manipulator with structurally flexible linkages," Proc. World Congr. Intelligent Control Autom. WCICA Proceedings of the World Congress on Intelligent Control and Automation (WCICA), pp. 5774-5779.