Augmentation of a Translational Mechanism for Six Degrees of Freedom

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吳宇文(Yu-Wen Wu) 查詢紙本館藏

畢業系所

機械工程學系

論文名稱

(Augmentation of a Translational Mechanism for Six Degrees of Freedom)

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摘要(中)

並聯機構因其相較於串列機構的特性而受到越來越多的關注：更高的運動性能、有效載荷、剛性等。然而，整合額外的運動鏈也會導致更多的內部碰撞、更多的奇異點和更小的工作空間。
本研究展示了純平移機構 R-CUBE 的增強。原始結構具有的三自由度被擴展至六自由度。該方法通過修改其末端連桿以充分利用其依賴的平面運動學來實現。原本的兩個線性自由度，現在變為兩個線性自由度加上一個角度自由度，且該角度自由度可被主動操作。由於在此方面可能有著多種具有平面運動的架構，本文推導並給出了一種統一化速度模型的一般形式，並將其寫成帶有係數函數的矩陣形式來表示。
提出了三種不同的遠端連桿結構，並為每一種結構完成了速度模型的統一化，同時確定了奇異性。透過 MATLAB 和 ADAMS 之間的比較研究對理論模型進行了驗證。隨後，對兩個不同版本的 AR-CUBE 進行了尺寸優化，並在角度可達性方面進行了比較。

摘要(英)

Parallel mechanisms have been subject to an increasing attention due to their characteristics in comparison with their serial counterparts: higher kinematics performances, payloads, stiffness etc. However, the integration of additional kinematic chains causes more internal collisions, more singularities and smaller workspace.
The present study demonstrates the augmentation of purely translational mechanism known as the R-CUBE. The three Degrees of Freedom of the original architecture is augmented to a six-DoF. The method consists in modifying its distal linkages to fully exploit the planar kinematics they normally rely on. Instead of two linear DoF, they now have two linear and one angular DoF, the last one being actively operated. Because several possible architectures with planar motion can be used in this regard, a general form for the uniformized velocity model is derived and written in a matrix from with coefficient functions.
Three different distal linkage architectures are proposed and for each of them, the uniformized velocity model is completed and singularity are identified. The theoretical models are validated using a comparison study between MATLAB and ADAMS. Two different versions of the AR-CUBE are then subjected to a dimensional optimization and compared in terms of angular reachability.

關鍵字(中)

★ 增強機構
★ 並聯機構
★ 平移機構
★ R-CUBE
★ 運動學分析
★ 最佳化

關鍵字(英)

★ Augmented mechanism
★ Parallel mechanism
★ Translational mechanism
★ R-CUBE
★ Kinematics analysis
★ Optimization

論文目次

摘要 .................................................................................................................................... i
Abstract ............................................................................................................................ ii
Acknowledgments .......................................................................................................... iii
Table of Content ............................................................................................................. iv
List of Figures ................................................................................................................. vi
Explanation of Symbols ............................................................................................... viii
1 Introduction .............................................................................................................. 1
1-1 Translational Mechanisms ................................................................................ 1
1-1-1 Delta robot ......................................................................................... 1
1-1-2 Orthoglide ......................................................................................... 2
1-1-3 Tripteron ............................................................................................ 4
1-1-4 Other cartesian mechanisms .............................................................. 6
1-2 Augmented Translational Mechanisms ............................................................. 7
1-3 Research interests and objectives .................................................................... 10
2 Augmentation of the R-CUBE Mechanism ......................................................... 13
2-1 Presentation of the Origin R-CUBE ................................................................ 13
2-1-1 Mechanical Architecture ................................................................. 13
2-1-2 Analysis of the R-CUBE ................................................................. 14
2-2 Integration of the New Distal Linkage ............................................................ 15 2-3 Uniformized Velocity Model and Singularities of the AR-CUBE ................. 17
3 Completion of the AR-CUBE Series Models ....................................................... 19
3-1 Inverse Kinematics Model of the AR-CUBE ................................................. 19
3-1-1 RRRR Linkage ................................................................................ 19
3-1-2 RRRR Linkage ................................................................................ 20
3-1-3 RPRR Linkage ................................................................................ 21
3-2 Velocity Models of the AR-CUBE ................................................................. 22
v
3-2-1 RRRR Linkage ................................................................................ 22
3-2-2 RRRR Linkage ................................................................................ 23
3-2-3 RPRR Linkage ................................................................................ 23
3-3 Validation of the Models ................................................................................. 24
3-3-1 RRRR Linkage ................................................................................ 24
3-3-2 RRRR Linkage ................................................................................ 28
3-3-3 RPRR Linkage ................................................................................ 29
4 Workspace Optimization ...................................................................................... 33
4-1 Linear workspace constraint ........................................................................... 33
4-2 Angular workspace criterion ........................................................................... 33
4-3 Optimization Results ....................................................................................... 36
5 Conclusion .............................................................................................................. 40
Reference ........................................................................................................................ 41

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指導教授

伊泰龍(Terence Essomba)

審核日期

2025-1-22

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