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系統識別號 U0002-0808200623490600
中文論文名稱 HexaSlide並聯式機械手臂之正向位置分析
英文論文名稱 Forward position analysis of HexaSlide parallel manipulators
校院名稱 淡江大學
系所名稱(中) 機械與機電工程學系碩士班
系所名稱(英) Department of Mechanical and Electro-Mechanical Engineering
學年度 94
學期 2
出版年 95
研究生中文姓名 黃冠智
研究生英文姓名 Kuan-Chih Huang
學號 693340092
學位類別 碩士
語文別 中文
口試日期 2006-07-11
論文頁數 68頁
口試委員 指導教授-劉昭華
委員-陳正光
委員-王銀添
中文關鍵字 正向位置  並聯式 
英文關鍵字 Hexaglide  HexaSlide  Linpod  forward  slide 
學科別分類 學科別應用科學機械工程
中文摘要 本文是針對六自由度並聯式機械手臂HexaSlide,解出其正向位置分析的解析解。HexaSlide機械手臂可以有以下幾種形式:Hexaglide、HexaM、或Linapod,本研究計畫所建議的分析方法可以使用在以上任何形式的機械手臂,並求出其正向位置分析的解析解。方法是首先找出機械手臂的等效機構(equivalent mechanism),亦即傾斜的3RS並聯式手臂,接著利用活動平台上三個球窩接頭間距離為已知常數,可得到三個多項式方程組,再利用席維斯透析消去法(Sylvester dialytic elimination method),求解出方程組的實根並解出活動平台位置。本文亦發展出可判定桿件間是否交錯的方法,而且也利用逆向位置分析,來驗證正向位置分析結果。
英文摘要 The purpose of this study is to determine analytical solutions to the forward position analysis of the six degree-of-freedom parallel manipulator HexaSlide. A HexaSlide parallel manipulator may take the following three forms: Hexaglide, HexaM, and Linapod. The solution procedure suggested in this research may deal with any of these three forms. A HexaSlide manipulator is fist transformed into its equivalent mechanism, that is, an inclined 3RS parallel manipulator; then the condition that the three spherical joints on the moving platform form an equilateral triangle leads us to obtain three polynomial equations in three unknowns. These equations are solved by using Sylvester dialytic elimination method. Each set of real roots correspond to a movimg Platform’s position. A method to determine if the links are crossed is also developed in this study. Solutions so obtained are verified by performing inverse position analysis.
論文目次 目 錄
中文摘要 ------------------------------------------------Ⅰ
英文摘要 ------------------------------------------------Ⅱ
目 錄 ------------------------------------------------Ⅳ
圖 目 錄 ------------------------------------------------Ⅴ
第一章 緒論 ----------------------------------------------1
第二章 等效平台 --------------------------------------5
第三章 等效平台分析 -----------------------------------9
第四章 結果與討論 ---------------------------------------17
第五章 結 論 ---------------------------------------37
參考文獻 ------------------------------------------------38
附錄A n1,m1,l1座標系與其他座標系間之座標轉換 ------------41
附錄B --------------------------------------------------43
附錄C 程式 ---------------------------------------------45
圖 目 錄
圖一 Hexaglide並聯式機械手臂 ----------------------------52
圖二 HexaM並聯式機械手臂 --------------------------------53
圖三 Linapod並聯式機械手臂 ------------------------------54
圖四 兩圓球之交圓所在之平面 ---------------------------- 55
圖五 等效3RS機構 --------------------------------------- 56
圖六 (n1,m1,l1)及(n1',m1',l1')座標系 ------------------- 57
圖七 Hexaglide之位置圖 --------------------------------- 58
圖八 Hexaglide之位置圖 --------------------------------- 58
圖九 HexaSlide之位置圖 --------------------------------- 59
圖十 HexaSlide之位置圖 --------------------------------- 59
圖十一 HexaSlide之位置圖 ------------------------------- 60
圖十二 HexaSlide之位置圖 ------------------------------- 60
圖十三 HexaSlide之位置圖 ------------------------------- 61
圖十四 HexaSlide之位置圖 ------------------------------- 61
圖十五 HexaSlide之位置圖 ------------------------------- 62
圖十六 HexaSlide之位置圖 ------------------------------- 62
圖十七 HexaSlide之位置圖 ------------------------------- 63
圖十八 HexaSlide之位置圖 ------------------------------- 63
圖十九 HexaSlide之位置圖 ------------------------------- 64
圖二十 HexaSlide之位置圖 ------------------------------- 64
圖二十一 HexaSlide之位置圖 ----------------------------- 65
圖二十二 HexaSlide之位置圖 ----------------------------- 65
圖二十三 HexaSlide之位置圖 ----------------------------- 66
圖二十四 HexaSlide之位置圖 ----------------------------- 66
圖二十五 HexaSlide之位置圖 ----------------------------- 67
圖二十六 HexaSlide之位置圖 ----------------------------- 67
圖二十七 HexaSlide之位置圖 ----------------------------- 68
圖二十八 HexaSlide之位置圖 ----------------------------- 68
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[2] M. Valenti, “Machine Tools Get Smarter”, ASME Mechanical Engineering, Vol 117, no. 11, 1995, pp. 70-75.

[3] J. W. Kim, C. Park, J. Kim, and F. C. Park, “Performancs Analysis of Parallel Manipulator Architectures for CNC Machining”, Proceedings of the ASME IMECE’97, Vol. 6, no. 2, 1997, pp. 341-348.

[4] H-J. Warnecke, R. Neugebauer, and F. Wieland, “Development of Hexapod Based Machine Tool”, Annals of CIRP, Vol. 47, no. 1, 1998, pp. 337-340.

[5] G. Pritschow, and K-H. Wurst, “Systematic Design of Hexapods and other Parallel Link System”, Annals of CIRP, Vol. 46, no. 1, 1996, pp. 291-295.

[6] Toyoda Machine Works, Home page at http://www.toyoda-kouki.co.jp

[7] D. Sato, T. Shitashimizu, and M. Uchiyama, “Task Teaching to a Force-Controlled High-speed Parallel Robot” Proceedings of the 2003 IEEE International Conference on Robotics and Automation, Taipei, Taiwan, September 14-19, 2003, pp. 4110-4115.

[8] D. Sato, Y.Ishii, T. Shitashimizu, D. Kim, and M. Uchiyama, “3D Graphics-Based Off-line Task Teaching for a Face-Controlled High-Speed Parallel Robot” Proceedings of the 4th IEEE International Symposium on Assembly and Task Planning, Soft Research Park, Fukuoka, Japan, May 28-29, 2001, pp.122-127.

[9] D. Kim, and M. Uchiyama, “A Force/Torque Sensor-less Realization of Fast and Dexterous Tasks with a Parallel Robot”, Proceedings of 26th Annual Conference of the IEEE Electronics Society (IECON 2000), Nagoya, Oct 22-28 2000, pp.223-228.


[10] http://www.iwf.mavt.ethz.ch/Web/D/Forschung/
maschinen.htm?Language=D

[11] M. Honegger, R. Brega, and G. Schweitzer, “Application of a Nonlinear Adaptive Controller to a 6 dof Parallel Manipulator”, Proceedings of the 2000 IEEE International Conference on Robotics and Automation, San Francisco, April 2000, pp.1930-1935.

[12] M. Honegger, A. Codourey, and E. Burdet, “Adaptive Control of the Hexaglide, a 6 dof Parallel Manipulator”, Proceedings of the 1997 IEEE International Conference on Robotics and Automation Albuquerque, New Mexico, April 1997, pp.543-548.

[13] E. Burdet, M. Honegger and A. Codourey, “Controllers with Desired Dynamic Compensation and their Implementation on a 6DOF Parallel Manipulator”, Proceedings of the 2000 IEEE/RSJ International Conference on Intelligent Robots and Systems, Takamatsu, Oct 31-Nov 5, 2000, pp. 39-45.

[14] http://www.toyoda-kouki.co.jp/jp/machines/lineup_pages/
cut_pages/hexam.html

[15] http://www.isw.uni-stuttgart.de/veroeffent/aufwtds6.htm

[16] T. Boye, and G. Ptitschow, “New Transformation and Analysis of a N-DOF LINAPOD with Six Struts for Higher Accuracy”, Robotica, Vol. 23, 2005, pp. 555-560.

[17] G. Carbone, and M. Ceccarelli, “A Serial-Parallel Robotic Architecture for Surgical Tasks”, Robotica, Vol. 23, 2005, pp. 345-354.

[18] P-L. Yen, Z-W. Ke, T-S. Lu, and C-W. Lu, “Development of a New Safety-Enhanced Surgical Robot Using the Hexaglide Structure”, Proceedings of the 2004 IEEE International Conference on Systems, Man and Cybernetics, Taipei, Taiwan, 2004, pp.2162-2167.


[19] A. B. K. Rao, P. V. M. Rao, and S. K. Saha, “Workspace and Dexterity Analyses of Hexaslide Machine Tools” Proceedings of the 2003 IEEE International Conference on Robotics and Automation, Taipei, Taiwan, September 14-19, 2003, pp.4104-4109.

[20] A. B. K. Rao, P. V. M. Rao, and S. K. Saha, “Dimensional Design of Hexaslides for Optimal Workspace and Dexterity”, IEEE Transactions on Robotics, Vol. 21, No. 3, June 2005, pp.444-449.

[21] J. Ryu, and J. Cha, “Optimal Architecture Design of Parallel Manipulators for Best Accuracy” Proceedings of the 2001 IEEE/RSJ International Conference on Intelligent Robots Systems, Maui, Hawaii, USA, Oct. 29-Nov. 03, 2001, pp.1281-1286.

[22] J. Ryu, and J. Cha, “Volumetric error analysis and architecture optimization for accuracy of HexaSlide type parallel manipulators”, Mechanism and Machine Theory, Vol. 38, 2003, pp.227-240.

[23] A. Ruaf, S.G. Kim, and J. Ryu, “Complete parameter identification of parallel manipulators with partial pose information using a new measurement device”, Robotica, Vol. 22, 2004, pp.689-695.

[24] 張國盛,六軸滑件平台之位置分析,淡江大學機械與機電工程學系碩士論文,2003年8月。

[25] L. W. Tsai, Robot Analysis-The Mechanics of Serial and Parallel Manipulators, John Wiley and Sons, NY, 1999.
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