齒輪式機器人機構之系統化設計(II)

The objectives of this research are two part:
one is to develop systematic methodologies for
modular design geared robotic manipulators,
and one is to create the GRMs with a jointed
unit.
For the first part, this methodology is based
on the idea that the kinematic structure of a
geared robot manipulator can be decomposed
into mechanical transmission lines and
mechanical transmission lines into input and
transmission units. Admissible input and
transmission units are distinguished as basic
and extended units according to their number
of links. With the principle of composition,
basic and extended mechanical transmission
lines can be constructed accordingly.
According to their kinematic properties,
admissible units are classified into modular
groups as ordinary and epicyclic units. Thus,
with the given configuration, geared robot
manipulators can be created by selecting
preferred basic mechanical transmission lines
and then extended mechanical transmission
lines by their kinematic properties. This
approach allows the designer to start from the
simplest mechanical structure to a more
complex model for a given desired kinematic
behavior during the conceptual design stage.
For the second part, the characteristics of
the jointed units are laid out and a systematic
methodology is developed to identify
admissible jointed units from the existing
non-fractionated two-dof GKCs. The
correspondence between non-zero elements of
columns of a structure matrix and the location
of the jointed units in the graph
representation of a GRM will be revealed.
Admissible structure matrices of GRMs with
jointed unit(s) can be systematic identified.
With this methodology, it will be shown that
GRMs with jointed unit(s) can be efficiently
and systematically enumerated.