English  |  正體中文  |  简体中文  |  全文笔数/总笔数 : 49378/84106 (59%)
造访人次 : 7365848      在线人数 : 80
RC Version 7.0 © Powered By DSPACE, MIT. Enhanced by NTU Library & TKU Library IR team.
搜寻范围 查询小技巧:
  • 您可在西文检索词汇前后加上"双引号",以获取较精准的检索结果
  • 若欲以作者姓名搜寻,建议至进阶搜寻限定作者字段,可获得较完整数据
  • 进阶搜寻


    jsp.display-item.identifier=請使用永久網址來引用或連結此文件: http://tkuir.lib.tku.edu.tw:8080/dspace/handle/987654321/88027


    题名: 以邊界元素法從事抓取分析
    其它题名: Grasping analysis using boundary element methods
    作者: 陳可辰;Chen, Ko-Chen
    贡献者: 淡江大學機械與機電工程學系碩士班
    劉昭華;Liu, Chao-Hwa
    关键词: 邊界元素法;接觸分析;多區域分析;Boundary element methods;contact analysis;Multiple region analysis
    日期: 2012
    上传时间: 2013-04-13 11:57:23 (UTC+8)
    摘要: 本論文使用邊界元素法,探討機器人手指夾持物件時,接觸區域大小、其牽引力分布、與夾緊位移之關係。在同時考慮物件在接觸區域外的節點不得穿透機器人手指,以及接觸區域內的所有節點之正向牽引力為壓力的條件下,進行接觸分析,並與赫氏接觸的解析結果作比較。本論文分析結果包括剛性手指夾持圓柱形彈性體,以及彈性或剛性手指夾持矩形彈性體之多區域接觸分析,手指與物件可分別為不同的材料,探討夾緊量、材料常數及手指寬度對接觸區域內牽引力的影響。
    Boundary element method is used in this thesis to investigate mechanical response in robot grasping. Specifically, the contact size and traction distribution are determined for given tightening displacements. Contact analysis is performed be imposing the two criterions: nodes outside the contact zone do not penetrate the other body; and all tractions inside the contact zone are compressive. Numerical results are first checked against analytic results. Cases treated in this thesis include cylindrical objects grasped by rigid fingers, and rectangular elastic objects grasped by rigid or elastic fingers. The latter is performed by multiple region analysis. The dependence of contact traction on tightening displacements, on modulus of elasticity, and on finger width is discussed in this thesis.
    显示于类别:[機械與機電工程學系暨研究所] 學位論文

    文件中的档案:

    档案 大小格式浏览次数
    index.html0KbHTML60检视/开启

    在機構典藏中所有的数据项都受到原著作权保护.

    TAIR相关文章

    DSpace Software Copyright © 2002-2004  MIT &  Hewlett-Packard  /   Enhanced by   NTU Library & TKU Library IR teams. Copyright ©   - 回馈