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    Please use this identifier to cite or link to this item: http://tkuir.lib.tku.edu.tw:8080/dspace/handle/987654321/84702


    Title: 6R 串接式機械手臂之奇異位置
    Other Titles: Kinematic Singularity of a 6R Serial Manipulator
    Authors: Lin, Chao-Hwa;劉昭華;Yu, Che-Jung;游哲榕
    Contributors: 淡江大學機械與機電工程學系
    Keywords: 串接式機械手臂;雙足機器人;運動奇異性;奇異位置;螺旋理論;6R serial manipulators;biped robots;kinematic singularity;singular positions;screw theory
    Date: 2010
    Issue Date: 2013-03-22 19:31:41 (UTC+8)
    Publisher: 臺北縣淡水鎮 : 淡江大學航空太空工程學系
    Abstract: 航太及機械構件的製造、加工、及組裝過程經常藉用機械手臂。本文是針對一種由6 個旋轉接頭連
    接而成的串接式機械手臂,探討此機構的奇異位置。此機械手臂可出現在機械加工或是雙足機器人的
    腿部,當機械手臂運動至奇異位置時,機構無法繼續作動,因此在路徑規畫時須避開這些位置。本文
    利用螺旋理論推導出機械手臂的Jacobian 矩陣,並利用矩陣的行列式找出發生奇異位置的條件。本文
    找出此機構之工作空間內沒有奇異位置的區域,並顯示數個奇異構形,以及探討這些奇異構形的性質。
    Robot manipulators are widely used in manufacturing, surface finishing, or assembly of aerospace or
    mechanical components. In this study the singularity analysis of a 6R serial manipulator is performed. The
    manipulator may be used in a manufacturing process or as a leg in a biped robot. The manipulator cannot
    perform any further motion when it is in a singular configuration, hence such configurations should be
    avoided during path planning. The Jacobian matrices are derived by using screw theory, from which all
    positions causing singularity may be obtained. The singularity-free region in the workspace is also located in
    this study.
    Relation: 第七屆海峽兩岸航空太空學術研討會論文集, pp.451-457
    Appears in Collections:[化學工程與材料工程學系暨研究所] 會議論文

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