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機器人球閥式氣液壓致動器之研究 = = Research on A Ba...

邱名輝

機器人球閥式氣液壓致動器之研究 = = Research on A Ball Valve-Controlled Hydropneumatic Actuator for Robots /

Record Type:	Language materials, printed : Monograph/item
Title/Author:	機器人球閥式氣液壓致動器之研究 =/ 邱名輝.
Reminder of title:	Research on A Ball Valve-Controlled Hydropneumatic Actuator for Robots /
remainder title:	Research on A Ball Valve-Controlled Hydropneumatic Actuator for Robots.
Author:	邱名輝
Published:	雲林縣 :國立虎尾科技大學 , : 民113.07.,
Description:	[8], 58面 :圖, 表 ; : 30公分.;
Notes:	指導教授: 毛彥傑.
Subject:	Strain Gauge. -
Online resource:	電子資源

機器人球閥式氣液壓致動器之研究 = = Research on A Ball Valve-Controlled Hydropneumatic Actuator for Robots /
邱名輝

機器人球閥式氣液壓致動器之研究 =Research on A Ball Valve-Controlled Hydropneumatic Actuator for Robots /Research on A Ball Valve-Controlled Hydropneumatic Actuator for Robots.邱名輝. - 初版. - 雲林縣 :國立虎尾科技大學 ,民113.07. - [8], 58面 :圖, 表 ;30公分.

指導教授: 毛彥傑.

碩士論文--國立虎尾科技大學機械設計工程系碩士班.

含參考書目.

近年來隨著科技的迅速發展，機器人技術已日臻成熟，在動力選擇方面，氣液壓和電動機致動器成為了兩個主流選項；氣壓動力元件因動力源與致動端可相互遠離，在致動端具有體積小、重量輕、動力傳遞管路可撓屈、功率高等優勢，特別適用於狹小空間內需要快速動作的場合，相較於電控動力，氣壓動力在安全性、維護和成本方面相對更具優勢。本研究提出了一種機器人球閥式氣液壓致動器及其測試系統，以手動球閥為基礎進行改造，透過舵機快速且準確致動該球閥，以一氣壓缸作為動力單元、一創新球閥控制之液壓缸作為制動單元，於該測試系統中利用應變規進行缸軸之位移和受力之自動化量測，進行該軸之力回授及位移回授控制；實驗結果顯示在此精簡型機械構造與微控制器架構下，已實現可接受之時間延遲及位移/力過衝量。.

(平裝)Subjects--Topical Terms:

995200
Strain Gauge.

機器人球閥式氣液壓致動器之研究 = = Research on A Ball Valve-Controlled Hydropneumatic Actuator for Robots /
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500 $a 指導教授: 毛彥傑.
500 $a 學年度: 112.
502 $a 碩士論文--國立虎尾科技大學機械設計工程系碩士班.
504 $a 含參考書目.
520 3 $a 近年來隨著科技的迅速發展，機器人技術已日臻成熟，在動力選擇方面，氣液壓和電動機致動器成為了兩個主流選項；氣壓動力元件因動力源與致動端可相互遠離，在致動端具有體積小、重量輕、動力傳遞管路可撓屈、功率高等優勢，特別適用於狹小空間內需要快速動作的場合，相較於電控動力，氣壓動力在安全性、維護和成本方面相對更具優勢。本研究提出了一種機器人球閥式氣液壓致動器及其測試系統，以手動球閥為基礎進行改造，透過舵機快速且準確致動該球閥，以一氣壓缸作為動力單元、一創新球閥控制之液壓缸作為制動單元，於該測試系統中利用應變規進行缸軸之位移和受力之自動化量測，進行該軸之力回授及位移回授控制；實驗結果顯示在此精簡型機械構造與微控制器架構下，已實現可接受之時間延遲及位移/力過衝量。.
520 3 $a In recent years, with the rapid development of technology, robotic technology matured significantly. In terms of power selection, pneumatic and electric motor actuators became two mainstream options. Pneumatic power components, due to their ability to have the power source and actuator separated by distance, offered advantages such as small size, light weight, flexible power transmission pipelines, and high power. These features made them particularly suitable for scenarios requiring rapid action in confined spaces. Compared to electric power, pneumatic power offered relative advantages in safety, maintenance, and cost. This study introduced A Ball Valve-Controlled Hydropneumatic Actuator for Robots and its testing system, which was based on a manually operated ball valve that had been modified. The actuation of the ball valve was carried out quickly and accurately through a servo motor. The system used a pneumatic cylinder as the power unit and an innovative ball valve-controlled hydraulic cylinder as the braking unit. In this testing system, strain gauges were utilized for the automated measurement of the cylinder shaft's displacement and force, allowing for feedback control of both force and displacement. Experimental results demonstrated that under this streamlined mechanical structure and microcontroller framework, acceptable time delay and displacement/force overshoot were achieved..
563 $a (平裝)
650 # 4 $a Strain Gauge. $3 995200
650 # 4 $a Robotics. $3 561941
650 # 4 $a Servo. $3 1452106
650 # 4 $a Ball Valve. $3 1452105
650 # 4 $a Hydropneumatics. $3 1452104
650 # 4 $a 應變規. $3 995205
650 # 4 $a 機器人. $2 lcstt $3 837596
650 # 4 $a 舵機. $3 1452103
650 # 4 $a 球閥. $3 1049673
650 # 4 $a 氣液壓. $3 1452102
856 7 # $u https://handle.ncl.edu.tw/11296/478hk6 $z 電子資源 $2 http