指導教授：江茂雄臺灣大學：工程科學及海洋工程學研究所陳韋達Chen, Wei-TaWei-TaChen2014-11-252018-06-282014-11-252018-06-282014http://ntur.lib.ntu.edu.tw//handle/246246/260930本研究旨在針對多軸並聯式機構機械臂整合系統之動態建模及模擬與伺服控制系統，包含三軸氣壓驅動角錐型並聯機構機械臂及六軸液壓驅動史都華平台。透過由SOLIDWORKS所繪之3D模型匯入至ADAMS動態模擬軟體，可進行各部件間運動特性建置及關節設定，此外，氣壓和液壓驅動系統以及控制系統之動態建模及模擬，以MATLAB/SIMULINK實現，藉由ADAMS及MATLAB/SIMULINK之整合模擬，將ADAMS機構動態模型匯出至MATLAB/SIMULINK環境進行複雜控制系統動態整合模擬及分析。 除上述動態建模及模擬外，並聯機構機械臂之運動學分析也是必要的。此部分採用幾何向量方法，利用空間中向量迴圈的封閉性質建立出致動器與運動平台端點間之逆向及順向運動關係，推導逆向與順向運動學之解析解，再透過MATLAB數值分析軟體以及ADAMS動態模擬軟體進行聯合模擬，驗證所推得的運動學模型之正確性。 本論文利用ADAMS及MATLAB/SIMULINK軟體整合動態分析，其中包含順、逆向運動學驗證、氣壓及液壓之單軸模擬以及加入PID控制器之複雜閉迴路軌跡追蹤模擬。此外，也針對三軸氣壓角錐型並聯機構機械臂進行實驗，包含單軸氣壓致動器之位置追蹤控制及藉由運動學規劃之機械臂端點平台三維空間軌跡，對三軸進行端點平台軌跡追蹤之閉迴路控制實驗，並與模擬結果比較，以驗證其可靠性。This study aims to investigate the analysis and control of the multi-axial parallel mechanism manipulators, including a three-axial pneumatic pyramidal parallel mechanism manipulator and a six-axial hydraulic Stewart-Gough platform. Through importing the 3D manipulator models drafted by SOLIDWORKS software, the dynamic simulation software ADAMS (Automated Dynamic Analysis of Mechanical Systems) can be implemented, and then the motion characteristics between components and joints setting can be built. Besides, the dynamic models of the pneumatic and hydraulic driving systems as well as the closed-loop control systems are derived and implemented via MATLAB/SIMULINK. Thus, through the co-simulation of ADAMS and MATLAB/SIMULINK, the dynamic models of the manipulators can be exported from ADAMS into the MATLAB/SIMULINK environment to process control simulation and analysis. Consequently, we can simplify the dynamic analysis of complex systems, improve the simulation result accuracy, and increase the design reliability. Besides the dynamic analysis, the kinematic analysis of the manipulator systems is also necessary for the overall system analysis in this study. In the kinematic analysis, the geometric method is introduced to solve the kinematic relation between the actuated joints and the moving platform. A vector-loop closure equation is first established for each limb of the manipulator, and then the solutions for both the inverse and forward kinematics are obtained by solving the vector-loop equations. In this study, the co-simulations of the dynamic models of manipulators via ADAMS and MATLAB/SIMULINK, including the inverse and forward kinematics, the pneumatic and hydraulic dynamic models, and the feedback controllers, are implemented for open-loop analysis and the closed-loop path tracking control respectively in the two manipulators. Besides, the path tracking control experiments of the three-axial pyramidal pneumatic parallel manipulator are also achieved and compared with simulation results for verification.口試委員會審定書 # 誌謝……………………………….……………………………………………………………………………………i 中文摘要 ii ABSTRACT iii CONTENTS v LIST OF FIGURES viii LIST OF TABLES xiv NOMENCLATURE xv Chapter 1 Introduction 1 1.1 Preface 1 1.2 Literature Review 3 1.2.1 Parallel Manipulator 3 1.2.2 Stewart Platform 4 1.2.3 Pneumatic Servo System 5 1.3 Motivation 7 1.4 Organization of the Thesis 8 Chapter 2 System Overview 9 2.1 Mechanism Description 9 2.1.1 Three-Axial Pyramidal Parallel Manipulator 9 2.1.2 Stewart-Gough Platform 12 2.2 Manipulator Mobility 15 2.2.1 DOF of Three-Axial Pyramidal Pneumatic Parallel Manipulator 16 2.2.2 DOF of Stewart-Gough Platform 16 2.3 Layout of Test Rig of Three-Axial Pyramidal Pneumatic Parallel Manipulator 17 2.3.1 Pneumatic Servo Positioning System 17 2.3.2 Overall Manipulator System 19 Chapter 3 Analysis of Kinematics 22 3.1 Kinematics of Three-Axial Pyramidal Manipulator 23 3.1.1 Inverse Kinematics 23 3.1.2 Forward Kinematics 25 3.2 Kinematics of Six-Axial Stewart Platform 28 3.2.1 Inverse Kinematics 28 3.2.2 Forward Kinematics 31 Chapter 4 Analysis of Dynamics 33 4.1 Dynamic Modeling of the Pneumatic Servo System 33 4.1.1 Dynamic Model of the Pneumatic Servo Valve 34 4.1.2 Dynamic Model of the Pneumatic Cylinder 36 4.2 Dynamic Modeling of the Hydraulic Servo System 41 4.2.1 Dynamic Model of the Hydraulic Servo Valve 41 4.2.2 Dynamic Model of the Hydraulic Cylinder 44 Chapter 5 Simulations and Experiments 48 5.1 Simulations of Inverse and Forward Kinematics 50 5.1.1 Simulation of Three-Axial Pneumatic Parallel Manipulator 52 5.1.2 Simulation of Six-Axial Stewart-Gough Platform 59 5.2 Co-Simulation of Three-Axial Pyramidal Pneumatic Parallel Manipulator by ADAMS and SIMULINK 65 5.2.1 Open-loop Simulations for Single-Axial Pneumatic Servo System 65 5.2.2 Closed-loop Simulations for Single-Axial Pneumatic Servo System 72 5.2.3 Closed-loop Simulations for Three-Axial Pyramidal Pneumatic Parallel Manipulator 78 5.3 Experiments of Three-Axial Pyramidal Pneumatic Parallel Manipulator 84 5.3.1 Experimental Results of Path Tracking Control for a Fifth Order Trajectory 84 5.3.2 Experimental Results of Path Tracking Control of End-Effector for a Circular Trajectory 87 5.4 Co-simulation of Hydraulic Six-Axial Stewart-Gough Platform by ADAMS and SIMULINK 93 5.4.1 Open-loop Simulations for Single-Axial Hydraulic Servo System 93 5.4.2 Closed-loop Simulations for Single-Axial Hydraulic Servo System 100 5.4.3 Closed-loop Simulations for Six-Axial Stewart-Gough Platform Manipulator 103 Chapter 6 Conclusions 112 REFERENCES 1143022853 bytesapplication/pdf論文公開時間：2019/08/17論文使用權限：同意有償授權(權利金給回饋本人)整合模擬動態模擬並聯機構史都華平台氣壓伺服系統液壓伺服系統運動學分析ADAMSMATLAB/SIMULINK軌跡追蹤控制thesishttp://ntur.lib.ntu.edu.tw/bitstream/246246/260930/1/ntu-103-R01525086-1.pdf