| Summary: | 碩士 === 國立臺灣科技大學 === 機械工程系 === 107 === Whether it's industrial robotic arms, surgical robots or general industrial machinery, static balancing technology is often used to achieve better mechanical motion characteristics. Most of the static balancing methods commonly using spring, counterweight, magnetic, cable and connecting, and the above methods are passive static balancing methods. This thesis using active pneumatic method as the main source of gravity compensation, with its idea as the basis for a mechanical arm design, this design has the following advantages:
(1) This pneumatic static balancing mechanism can achieve variable payload in one step;
(2) This design can be stopped in any position during working and it has the locking function;
(3) This thesis is more simplified in size compared with other static balancing methods;
(4) Consider the weight of each part and use the actual spring to achieve an approximate gravity balanced;
This thesis proposes a 2-DoF statically balanced mechanism using a linear pneumatic cylinder , and to verify its feasibility with MSC Adams CAE software. In order to make the 2-DoF statically balanced mechanism in line with practicability. This thesis considers the weight of each rod piece, a system formula is proposed to calculate the number of air pressure bars required according to different payload and different mounting positions and the size of the cylinder, to achieve the characteristics of the variable payload. Propose five operation steps and explain the function of the air pressure cylinder.
Finally, the prototype measures the actual situation is the same as the simulation results, and verify the mechanism can achieve the above advantages.
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