https://scholars.lib.ntu.edu.tw/handle/123456789/64491
標題: | 齒輪式機器人機構之系統化設計(II) | 作者: | 陳達仁 | 公開日期: | 1999 | 出版社: | 臺北市:國立臺灣大學機械工程學系暨研究所 | 摘要: | 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. |
URI: | http://ntur.lib.ntu.edu.tw//handle/246246/15624 | 其他識別: | 882212E002013 | Rights: | 國立臺灣大學機械工程學系暨研究所 |
顯示於: | 機械工程學系 |
檔案 | 描述 | 大小 | 格式 | |
---|---|---|---|---|
882212E002013.pdf | 75.75 kB | Adobe PDF | 檢視/開啟 |
在 IR 系統中的文件,除了特別指名其著作權條款之外,均受到著作權保護,並且保留所有的權利。