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| 題 名 | 平行並聯式三軸運動平臺於軸空間之及時軌跡追蹤研究=Real-time Trajectory Tracking in Link-space for a 3 DOF AC Servo Motor Parallel Mechanism |
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| 作 者 | 鄭淵明; 陳伯亞; 黃韋霖; 吳信賢; | 書刊名 | 機械技師學刊 |
| 卷 期 | 6:4=24 2013.12[民102.12] |
| 頁 次 | 頁53-59 |
| 分類號 | 446.841 |
| 關鍵詞 | 平行機構; 三自由度; 即時插補器; 運動平臺; Parallel mechanism; 3-DOF; Real-time interpolator; Motion platform; |
| 語 文 | 中文(Chinese) |
| 中文摘要 | 本研究主要探討一臺具有三個自由度Z、α、β的三軸平行運動平臺的機構。在機構設計中,將三根致動軸相互平行,且兩平板以平行方式安裝,藉由三根致動軸的前進與後退,來達到可動平臺的姿態Z、α、β的變換。在研究中,將進行平行機構的逆向運動學與前向運動學的推導,再運用逆向運動學計算機臺工作空間,並分析機構的奇異點分佈與各姿態的結構的剛性。由於三自由度的單位不同,因此在研究中,定出行走軌跡的控制點,經由逆向運動學解出三軸位置量,再以三軸位置運用即時插補器,插補出一條在三軸軸空間座標系統的軌跡,此軌跡可完全替代Z、α及β座標系的軌跡,再進行軌跡追蹤,並驗證控制軸空間的軌跡,則等於控制在Z、α及β座標系統的軌跡。 |
| 英文摘要 | The purpose of this study focuses on a 3-axis AC servo motor parallel platform with three degrees of freedom Z, alpha, beta. In design of mechanism, the three actuator axes parallel to each other and the two platforms install in parallel. The positions of moving platform are changed by extension and shortening of the three axes. The forward kinematics, inverse kinematics and work space of this mechanism are established and the singularity distribution is investigated. This study proposed a link-space real time trajectory tracking for a 3 DOF (Z, α and β) parallel mechanism. The essence of this approach is to convert control points of command trajectory to link space by inverse kinematics. It was shown that a trajectory tracking in 3-link space could be performed which was impossible in the original Z-α-β space. |
本系統中英文摘要資訊取自各篇刊載內容。