陳美勇Chen, Mei-Yung曾俊達Zeng, Jun-Da2024-12-172024-01-152024https://etds.lib.ntnu.edu.tw/thesis/detail/28fda8d22e5e9c0403b00fda4aed9a6f/http://rportal.lib.ntnu.edu.tw/handle/20.500.12235/123065Delta機械手臂是並聯式機械手臂中的一種，在結構上可分為移動平台和固定底座，以及三個平行四邊形形狀，具有相同運動學結構的機械手臂，固定在一個固定底座上，依靠底座上裝設的馬達來驅動手臂上的連桿，對移動平台進行移動。大部分的Delta機械手臂是採用垂直方向，而本文中所展現的則是水平方向的Delta機械手臂，並介紹其特點以及針對Delta機械手臂的運動學、工作空間和與對運動軌跡進行分析，為水平方向Delta機機械手臂的應用提供參考。運動學分析分為正向運動學和逆向運動學。逆向運動學的解可以通過機械臂的參數以及幾何的分析來求得。利用逆向運動學的計算結果以及參數代換的方法，可以獲得Delta機械手臂的正向運動學之解。 藉由正向運動學的計算結果，可以對Delta機械手臂的工作空間進行分析，並透過MATLAB模擬Delta機械手臂在3D空間中的工作空間。在運動軌跡方面，通過控制系統來操控機械手臂的運動，通過模擬與實驗對比，藉以優化Delta機械手臂的運動軌跡。The Delta robotic arm is one of the parallel robotic arms. It can be divided into a mobile platform and a fixed base, and three parallelogram-shaped arms with the same kinematic structure. They are set on a fixed base and rely on the base for loading. A motor is provided to drive the link on the arm to move the mobile platform. Most Delta robotic arms adopt a vertical orientation, but this article shows a horizontal Delta robotic arm. It introduces its characteristics and analyzes the kinematics, workspace, and motion trajectory of the Delta robot. The horizontal orientation provides a reference for the application of the Delta machine robotic arm.Kinematics analysis is divided into forward kinematics and inverse kinematics. The solution of inverse kinematics can be obtained through the analysis of the parameters and geometry of the manipulator. Using the calculation results of inverse kinematics and the method of parameter substitution, the solution to the forward kinematics of the Delta robotic arm can be obtained. Through the calculation results of forward kinematics, the working space of the Delta robotic arm can be analyzed, and the working space of the Delta robotic arm in 3D space can be simulated through MATLAB. In terms of motion trajectory, the control system is used to control the movement of the robotic arm, and the motion trajectory of the Delta robotic arm is optimized through simulation and experimental comparison.Delta 機械手臂正向運動學逆向運動學工作空間運動軌跡Delta robotForward kinematicsInverse kinematicsWorking spaceMotion trajectory學術論文