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    Please use this identifier to cite or link to this item: http://ccur.lib.ccu.edu.tw/handle/A095B0000Q/129


    Title: 並聯式三軸力量感測器;Design of a parallel three-axis force sensor
    Authors: 劉東旻;LIU, DONG-MIN
    Contributors: 機械工程系研究所
    Keywords: 三維力量感測器;並聯式機構;渦電流位移感測器;3D force sensor;Parallel mechanism;Eddy current sensor
    Date: 2018
    Issue Date: 2019-05-23 12:52:38 (UTC+8)
    Publisher: 機械工程系研究所
    Abstract: 本研究提出一個新型三維力量感測器,並分析推導感測器之轉換函數,最後再經由實驗驗證三軸力量感測器的結構和操作特性。目前雖然有許多方法可量測多軸力量,但多僅適用於微力量感測,如機械手臂觸覺力量感測,若欲設計可應用於人體運動或建築物承載等量測等,此類較大的三維(3D)力和負載之感測器,仍然是一個重大的挑戰。 本研究基於 Delta 平台架構並結合渦電流位移感測器,設計此具有較大負載之三軸力量感測器,其感測器設計變量為彈性樑主體的幾何尺寸,將採用有限元法對感測器彈性體進行數值分析,再經由三個高精度渦電流位移感測器檢測。因三軸力量所產生的微小變形,並實作此設計之原型機以進行校準測試,最後則進行性能之量測,以確認此設計之可行性與分析證確性。根據驗證實驗所記錄的數據,分析此三軸力量感測器之非線性,重複性和遲滯性等性能,此三軸力量測器皆具有優於市面現有產品之良好結果。
    A novel three-dimensional (3D) force sensor is proposed in this study. The translation function applied in measurement has been derived, and the structure and performance are confirmed via experiments. In presently, many measurement techniques can be applied to measure the multi-dimensional force or torque. However, the force range of the measurement capability often limits in the micro-force, and the application is like the touch force of the manipulator figures. If we will apply the current measurement technical in large-scale forces, such as the human motion or building, these are incompetent. It is the challenge to design a force sensor with the large-scale force capability. In this study, we design a 3D force sensor with large-scale force capability based on the Delta structure with elasticity beam, and it adopts three eddy current sensors to estimate the deformation of the elasticity beam caused by the exerted force. The finite element analysis is applied to consider the design variables of the structure. Finally, the performance of the 3D force sensor, included linearity, repeatability, and hysteresis have been confirmed that is better than the current multi-dimensional force accordance with the experiment results.
    Appears in Collections:[機械工程學系] 學位論文

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