線性驅動之稜形機器人的機構與模擬

Mechanism Simulation of Linear-Actuated Delta Robot

張釗(Chao Chang)

《中華科技大學學報》 70期 (2017/04) Pp. 1-10

摘要

在本論文中，線性驅動之稜形機器人的機構重現於三維繪圖軟體中，利用Pro/E機構設計軟體，將線性驅動之稜形機器人的特有滑動關節、上肢萬向關節與下肢萬向關節作組合聯結，以運動學解析推導出的答案，作為驅動稜形機器人之三組滑動關節的伺服指令，即可導引末端平台在空間中遵照原先逆向運動學的路徑設定，模擬進行軌跡，並相互比較其作動平台之輸出與預設路徑之誤差值，由於末端平台之被動設備可搭配畫筆、切刀或雷射等等工具，因此可應用的範圍或領域可以說是具有無限的可能。

關鍵字

機器人 ； 稜形 ； 運動學 ； 機構模擬 ； 伺服控制

並列摘要

In this paper, mechanism simulation of a full modeled linear-actuated Delta robot is conducted by detailed kinematic solutions and commercial code Pro/E. The symbolic prismatic joints and universal joints make linear-actuated Delta robot in parallel arrangement with the linear actuating motors controlled by the inversed kinematic solution results, which are the time table inputs. The effector may follow the parallel mechanism in the route as previously defined. Comparisons are made between the prescribed route and the effector's which are in certain amount differences, caused by the precision level of the calculation. The effector may also be mounted with laser cutter, route cutter, and some other tools which make the Delta robot versatile in different applications.

並列關鍵字

robot ； delta ； kinematics ； mechanism simulation ； servo control