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題名 | Structural Synthesis of Bevel-Gear Robotic Wrist Mechanisms=斜齒輪機器人腕部機構之構造合成 |
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作者 | 許正和; 張其振; 徐金柱; Hsu, Cheng-ho; Chang, Chi-cheng; Hsu, Jin-juh; |
期刊 | Proceedings of the National Science Council : Part A, Physical Science and Engineering |
出版日期 | 19990700 |
卷期 | 23:4 1999.07[民88.07] |
頁次 | 頁518-525 |
分類號 | 446.011 |
語文 | eng |
關鍵詞 | 機器人; 腕部機構; Robotic wrist mechanisms; Bevel-gear trains; Graph theory; Structural synthesis; |
英文摘要 | This paper presents an efficient methodology for the structural synthesis of bevel-gear robotic wrist mechanisms. First, a unified graph representation is introduced to represent the structure of bevel-gear wrist mechanisms. Next, the basic design requirements of bevel-gear wrist mechanisms are induced. Then, a method is developed such that three-degree-of-freedom (DOF) bevel-gear wrist mechanisms can be synthesized from the catalog of two-degree-of-freedom, nonfractionated geared kinematic chains. An approach is also proposed to sketch the functional representation of bevel-gear wrist mechanisms. As a result, a complete atlas of three-degree-of-freedom bevel-gear robotic wrist mechanisms with up to nine links is successfully constructed in a systematic way. |
本系統之摘要資訊系依該期刊論文摘要之資訊為主。