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題 名 | Design and Stiffness Analysis of a Compliant Hexapod Machine for Force Control of Robot Manipulators=應用於機器手力量控制之順應式六角點型機器設計與剛性分析 |
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作 者 | 孫錦煌; 柴雲清; | 書刊名 | 中州學報 |
卷 期 | 16 2002.12[民91.12] |
頁 次 | 頁35-50 |
分類號 | 448.94 |
關鍵詞 | 六角點式機械; 力量控制; 機械手; 剛性映射; Hexapod machine; Force control; Robot manipulator; Stiffness mapping; |
語 文 | 英文(English) |
中文摘要 | 設計順應式六角點型機器構想可運用特殊6-6型史都華平台概念。此機構可以想像是一個簡單順應聯結器構件組。其連接兩平台之連桿為SPS型態。被特殊化後之幾何結構可以降低運動分析上的所需正轉換分析及剛性分析之複雜性。本研究建議設計者於設計此類機器時可以利用剛性映射 (stiffness mapping) 之屬性,例如,特徵螺旋向量 (eigenscrew),順應軸,迴旋順應軸及扭力順應軸來加以模化此機器。這些特性之運用主要基於剛性映射理論可以實現機器手力量控制,而剛性映射理論又決定於剛性矩陣之特性。故在運用剛性映射理論時,模化剛性短陣之特性是比囿限在考慮此機器之可運動空間範園大小還要重要。運用本研究所建議之方式可以幫助工程師在設計順應機器以從事機器手力量控制時可以更便利完成所欲進行之工作。 |
英文摘要 | The design of a compliant hexapod machine is developed from the concept of a special 6-6 Stewart platform. The mechanism is considered as a simple compliant coupling, which models the connectors of the mechanism as SPS chains. The specified geometric configuration reduces the design complexity in the forward closed-form analysis and stiffness analysis. This study suggests that designers utilize the properties of stiffness mappings, such as eigenscrews, compliant-axes, twist-compliant axes, and wrench-compliant axe to model the machine. These issues are much more important characteristics than the workspace to be considered while designing a compliant device for the force control of robot manipulator, since the force control can be performed by using the theory of stiffness mapping. The design based upon this concept could help engineer easy to apply on the desired task. |
本系統中英文摘要資訊取自各篇刊載內容。