以單自由度複合式平台執行三維路徑演生

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Title:	以單自由度複合式平台執行三維路徑演生 3D Path Generation with Single DOF Hybrid Platform
Authors:	鐘文遠(W.Y.Chung)
Contributors:	華岡工程學報
Keywords:	複合式平台支撐腿路徑演生 hybrid platform supporting leg path generation
Date:	2010-06
Issue Date:	2014-10-31 11:05:14 (UTC+8)
Abstract:	單自由度複合式運動平台乃為一新穎構想，而其設計與合成則為本研究重點。該機構主要由運動平台、串聯式機械臂及數個支撐腿等三部份組成。路徑演生乃指平台上的特定點，於運動時能依序通過空間中的若干個指定位置。若指定位置的個數不多時，便可採用所提之平台，以降低成本。設計該機構時，包含形式合成與尺寸合成兩部分。藉由形式合成的理論，可決定支撐腿的數目及其接頭的運動對形式，使整個機構的自由度降低為一。尺寸合成則依據各支撐腿的運動對，依運動需求的指定、幾何關係和相關限制條件，決定接頭安裝位置與支撐腿桿長等，以設計出能到達所有指定位置的複合式平台。所提出的平台，已完成最多可符合五個路徑點的路徑演生。對於設計完成的複合式平台，亦使用三維軟體，加以模擬測試及確認其功能。此外對每加置支撐腿一組支撐腿，造成複合式運動平台的總自由度變化，加以整理歸納。 The design, synthesis, and test of single degree hybrid platform are focused. The hybrid platform proposed is a new concept and composed of a moving platform, a serial manipulator and several supporting legs. Path generation is to move a point on the platform through several specified 3D positions sequentially. If only few positions are specified, the proposed platform can be considered to reduce the cost. Designing this mechanism includes two steps. The first step is type synthesis and to determine the number of legs and the types of corresponding joints. Dimensional synthesis is then executed on the basis of movement requirement, geometrical relationship and constraints to determine the lengths of links and the coordinates of joints. Path generation up to five specified 3D positions is accomplished. Several examples are given and 3D software, such as Pro/engineering, is used to animate and verify the motion of the platform. The reduction of the DOF of the platform is also analyzed when various legs are added between the moving platform and fixed frame.
Relation:	華岡工程學報； 26 期 (2010 / 06 / 01) ， P51 - 57
Appears in Collections:	[College of Engineering] Chinese Culture University Hwa Kang Journal of Engineering

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