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    Please use this identifier to cite or link to this item: http://tkuir.lib.tku.edu.tw:8080/dspace/handle/987654321/35436


    Title: CaPaMan2 3-DOF 並聯式機械手臂正向位置分析
    Other Titles: Direct position analysis of the 3-DOF CaPaMan2 parallel manipulator
    Authors: 丘世昌;Ciou, Shih-chang
    Contributors: 淡江大學機械與機電工程學系碩士班
    劉昭華;Liu, Chao-hwa
    Keywords: CaPaMan2;CaPaMan3;並聯式機械手臂;正向位置分析;CaPaMan2;CaPaMan3;direct displacement analysis;direct kinematics;parallel manipulators;parallel robots
    Date: 2006
    Issue Date: 2010-01-11 06:32:29 (UTC+8)
    Abstract: 本研究針對三自由度並聯式機械手臂CaPaMan2及CaPaMan3,尋找其正向位置分析的解析解。解題過程首先是將原機構簡化為等效3RS機構,在此等效機構的座標系之內,利用活動平台上之球窩接頭間的距離為已知長度,可推導出三個多項式方程式,接著利用席維斯透析消去法(Sylvester dialytic elimination method)求得解答。在求得解答後,本研究亦利用圖形法進行逆向位置分析,以驗證正向分析之解答。
    In this study analytical results for displacements of 3dof parallel manipulators CaPaMan2 and CaPaMan3 are obtained. The manipulators are firstly simplified into a 3RSmanipulator. Then in the simplified manipulator’s coordinate system three algebraic equations are obtained which constrain the distance between any two spherical joints on the moving platform to be a known value. Analytical solutions are obtained by using the Sylvester dialytic elimination method. Graphical inverse position analysis are also performed to verify the results.
    Appears in Collections:[機械與機電工程學系暨研究所] 學位論文

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