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題 名 | General Plane Motion Guidance of a Particle and a Rigid-Body=質點與剛體之平面運動導引 |
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作 者 | 吳宗謀; | 書刊名 | 遠東學報 |
卷 期 | 27:4 2010.12[民99.12] |
頁 次 | 頁363-370 |
分類號 | 446.011 |
關鍵詞 | 質點; 剛體; 運動導引; 運動倒置; 機械手; 電腦輔助設計; 電腦模擬; Particle; Rigid-body; Motion guidance; Inverse kinematics; Robot; CAD; Simulation; |
語 文 | 英文(English) |
中文摘要 | 質點與剛體之平面運動導引是運動倒置的一種,我們能使用機構或機械手達到目的。機構有最大精確點數的限制,而機械手則因為自由度較多的關係無此限制。換句話說,機械手於其工作空間中,可達到指定的複雜運動。因此若要達到許多位置,機械手則是必要之選。本文研究出質點與剛體之平面運動導引的一般解,並發展電腦輔助設計及模擬程式配合幾個範例程式以驗證本文所提之數學理論。 |
英文摘要 | The general plane motion guidance of a particle and a rigid-body is an inverse kinematics problem. To accomplish it, we usually could use mechanism or robot manipulator. The mechanism has the limitation of maximum precision points, but robot has not the limitation of maximum precision points because a robot has many degrees of freedom. In other words, robot can carry out any specified complex motion in its working space. For taking more positions, the robot will not hesitantly be considered. This paper presents some general solutions for robot manipulators to deal with any plane motion guidance problem of a particle and a rigid-body. The program is also developed by these general mathematical models. Moreover, the robotic profile results can be determined and the animation simulations can also be performed in this program. Two examples are given in this paper to illustrate the program. |
本系統中英文摘要資訊取自各篇刊載內容。