雙機械臂之操控

• Main Author: 梁瑞芳
• Other Authors: 蔡明俊
• Format: Others
• Language: zh-TW
• Published: 1991
• Online Access: http://ndltd.ncl.edu.tw/handle/42136461101923706518

碩士 === 國立成功大學 === 機械工程研究所 === 79 === This paper analyzes two manipulators holding a common object to imitate the man''s two arms operating a long stick. One hand holds the end of the stick with two free rotation freedoms just like a universal joint (S''-pair). The other holds at the middle of the stick with one free rotation and one sliding freedom just like a cylinderical pair (C-pair). In the parallel robot system, one robot is installed with a C-pair, the other with a S''-pair. Let the parallel robot system has six degrees of freedom to set a general spatial motion. 　 This paper includes the kinematic and force analysis of the parallel robot. In kinematic analysis, problem is solved based on the closure of the kinematic chain. The jacobian of the parallel robot is formulated, therefore, solving the inverse velocity of the system will encounter the singularity problems. The singularity of the parallel robot system is also dissicussed. The force analysis is also divided into forward and inverse problem. In solving the inverse force analysis, An minimized internal force method is used to get the optimal solution for individal robot. 　 The last component is the control of servo motor to make a robot. Then link the low level control program with the high level kinematic program to actuate the robot.