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機械眼結構分析與設計 = Robotic Eye Structure a...

國立虎尾科技大學

機械眼結構分析與設計 = Robotic Eye Structure analysis and Design

Record Type:	Language materials, printed : monographic
Paralel Title:	Robotic Eye Structure analysis and Design
Author:	陳世豪,
Secondary Intellectual Responsibility:	林博正,
Secondary Intellectual Responsibility:	國立虎尾科技大學
Place of Publication:	雲林縣
Published:	國立虎尾科技大學;
Year of Publication:	民97[2008]
Edition:	初版
Description:	127面圖,表 : 30公分;
Subject:	壓電致動器
Subject:	Preload
Online resource:	http://140.130.12.251/ETD-db/ETD-search-c/view_etd?URN=etd-0131108-172053
Summary:	本研究目的為創新球形超音波馬達結構設計，作為機械眼用。主要結構包括具視訊CCD的球型機械眼、驅動機械眼二軸旋轉的線性壓電材與具磁鐵的機座等三部份，分別與子計畫一的驅動壓電材與磁路設計分析、子計畫三的驅動控制及子計畫四的視訊控制等進行整合，來完成創新球形機械眼之超音波馬達設計分析技術。此機械眼結構主要結合壓電材驅動與磁力預壓，利用壓電材進行機械眼的驅動與機械眼的支撐，及利用超距力的磁力來產生壓電材的預壓力，克服機構設計的ㄧ轉軸一自由度的限制，來縮小球形機械眼傳動結構。針對新型球體幾何結構進行設計分析，將機械眼轉動產生的偏心扭矩與自重及磁力產生預力，分別針對壓電材與磁鐵在十字與矩形方位佈置，經力平衡由壓電材均勻承載，進行機械眼轉動偏心扭矩與方位佈置對於壓電材預壓力的影響。經分析獲得以十字方位佈置分別以與的四只壓電材與磁鐵方位，磁力各以15N，間隙在2mm下，四只壓電材預壓力在8~9N變化，吻合子計畫一與三提供驅動源特性與控制需求，且進行結構設計，並提供子計畫一進行磁路分析，完成球體機械眼雛型機製作與球形超音波馬達結構設計技術。 This research designs the new structure of ultrasonic piezoelectric ceramic actuator to develop a robotic eye. Three main components of the robotic eye are an eyeball holding video CCD, four piezoelectric ceramics driving the robotic eyeball to rotate on two axes and a polygonal seat including four magnets to preload the piezoelectric ceramic. The structural concept of robotic eye is developed to drive and sustain the eyeball with the piezoelectric actuators and to create a contact-less force loading on the actuator with the magnet, besides, to overcome the mechanical constraint of one axis corresponding to one degree of freedom, and to shrink the proportion of the realization. The structural design is based on the force equilibrium to calculate the preload on a actuator in a cross configuration due to the direct magnetic force and the force resulting from the eccentric moment of the weight of robotic eyeball in the robotic eyeball rotating. The analyzed result shows that the four piezoelectric cubes and the four magnets are set the positions at sixty degrees and thirty degrees respectively, and 13.4 N of the magnetic forces at 4 mm of the air gap should make the preload of each piezoelectric cube preserve 8~9 N. Finally, the project sets up the prototype and the structural design technologies of the robotic eye.

機械眼結構分析與設計 = Robotic Eye Structure analysis and Design
陳, 世豪

機械眼結構分析與設計 = Robotic Eye Structure analysis and Design / 陳世豪撰 - 初版. - 雲林縣 : 國立虎尾科技大學, 民97[2008]. - 127面 ; 圖,表 ; 30公分.
壓電致動器Preload

林, 博正

機械眼結構分析與設計 = Robotic Eye Structure analysis and Design
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330 $a 本研究目的為創新球形超音波馬達結構設計，作為機械眼用。主要結構包括具視訊CCD的球型機械眼、驅動機械眼二軸旋轉的線性壓電材與具磁鐵的機座等三部份，分別與子計畫一的驅動壓電材與磁路設計分析、子計畫三的驅動控制及子計畫四的視訊控制等進行整合，來完成創新球形機械眼之超音波馬達設計分析技術。此機械眼結構主要結合壓電材驅動與磁力預壓，利用壓電材進行機械眼的驅動與機械眼的支撐，及利用超距力的磁力來產生壓電材的預壓力，克服機構設計的ㄧ轉軸一自由度的限制，來縮小球形機械眼傳動結構。針對新型球體幾何結構進行設計分析，將機械眼轉動產生的偏心扭矩與自重及磁力產生預力，分別針對壓電材與磁鐵在十字與矩形方位佈置，經力平衡由壓電材均勻承載，進行機械眼轉動偏心扭矩與方位佈置對於壓電材預壓力的影響。經分析獲得以十字方位佈置分別以與的四只壓電材與磁鐵方位，磁力各以15N，間隙在2mm下，四只壓電材預壓力在8~9N變化，吻合子計畫一與三提供驅動源特性與控制需求，且進行結構設計，並提供子計畫一進行磁路分析，完成球體機械眼雛型機製作與球形超音波馬達結構設計技術。 This research designs the new structure of ultrasonic piezoelectric ceramic actuator to develop a robotic eye. Three main components of the robotic eye are an eyeball holding video CCD, four piezoelectric ceramics driving the robotic eyeball to rotate on two axes and a polygonal seat including four magnets to preload the piezoelectric ceramic. The structural concept of robotic eye is developed to drive and sustain the eyeball with the piezoelectric actuators and to create a contact-less force loading on the actuator with the magnet, besides, to overcome the mechanical constraint of one axis corresponding to one degree of freedom, and to shrink the proportion of the realization. The structural design is based on the force equilibrium to calculate the preload on a actuator in a cross configuration due to the direct magnetic force and the force resulting from the eccentric moment of the weight of robotic eyeball in the robotic eyeball rotating. The analyzed result shows that the four piezoelectric cubes and the four magnets are set the positions at sixty degrees and thirty degrees respectively, and 13.4 N of the magnetic forces at 4 mm of the air gap should make the preload of each piezoelectric cube preserve 8~9 N. Finally, the project sets up the prototype and the structural design technologies of the robotic eye.
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