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    Please use this identifier to cite or link to this item: http://ccur.lib.ccu.edu.tw/handle/A095B0000Q/218


    Title: 雙機械手臂加工系統之控制與實驗;Control and Experiments of a Dual-Arm Robot for machining
    Authors: 張碩彥;CHANG, SHUO-YEN
    Contributors: 機械工程系研究所
    Keywords: 雙機械手臂;機械手臂剛性;等效輪廓誤差法;強健性控制;分散式控制;加工;自動化;Dual-Arm Robot;RRobot Stiffness;Equivalent error;Robust control;Distributed Control;Machining;Automation
    Date: 2017
    Issue Date: 2019-07-17
    Publisher: 機械工程系研究所
    Abstract: 本論文提出整合自動化(Automation)與加工(Machining)的未來加工機雛形,主要設計的靈感來自於雙機械手臂機器人(Dual Arm Robot)。其特性為各組機械手臂可獨立執行自動化命令,但是當兩組機械手臂共同夾持加工物體時,轉為並聯式機構,具高強度的特性,在執行加工命令時具有優勢。為求對此系統的了解,本論文組建一台雙機械手臂加工系統的雛型機,其主體包括 :兩組五自由度之機械手臂,搭配固定於基座上的主軸與刀具。並針對其特殊的構型做正、逆向運動學的分析,建立左、右機系手臂的數學模型、鑑別各軸伺服馬達的轉移函數,量測Y方向與Z方向機械手臂剛性(Robot Stiffness)。最後在理解其物理特性後設計強健性控制器(Robust control)與分散式控制器(Distributed Control),使其能執行自動化命令與加工命令,並在循跡控制上達到一定的精度要求。
    This paper will present the prototype of the future machine tool which integrates the automation equipment and the machine tools together. The core idea of the prototype is coming from the dual-arm robot; we can use each arm for automation when we want to machine the materials, dual-arm will cooperative holding the materials for cutting work.To know of the system clearly, we establish a dual-arm robot, which contains dual-arm for the five-axis robot and one of turning spindle with cutting tools. We calculate the system dynamic/kinematic, doing the experiments of system identify for each motor and measurement the stiffness of single arm and dual-arm robot. After understanding the physical characteristics of the system, we designing the robust controller and Distributed controller to control the manipulator for automatic command and machining command with accuracy.
    Appears in Collections:[機械工程學系] 學位論文

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