Browsing by Author "Hsieh, CT"

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A potential-based path planning of articulated robots with 2-DOF joints
(2005)
Chuang, JH
;
Lin, CC
;
Kao, JH
;
Hsieh, CT
;
資訊工程學系
This paper proposes a potential-based path planning algorithm of articulated robots with 2-DOF joints. The algorithm is an extension of a previous algorithm developed for 3-DOF joints. While 3-DOF joints result in a very straightforward potential minimization algorithm, 2-DOF joints are obviously more practical for active operations. The proposed approach computes repulsive force and torque between charged objects by using generalized potential model. A collision-free path can be obtained by locally adjusting the robot configuration to search for minimum potential configurations using these force and torque. The optimization of path safeness, through the innovative potential minimization algorithm, makes the proposed approach unique. In order to speedup the computation, a sequential planning strategy is adopted. Simulation results show that the proposed algorithm works well compared with the algorithm for 3-DOF joints, in terms of collision avoidance and computation efficiency.
The shaft behavior of BTA deep hole drilling tool
(1996-05-01)
Chin, JH
;
Hsieh, CT
;
Lee, LW
;
交大名義發表
;
機械工程學系
This paper is a study on the shaft behavior of BTA deep hole drilling tool. The dynamics of tool shaft are often taken to be that of a second order lumped mass system for other cutting processes. This simplification does not apply for deep hole drilling because of its shaft length and the fact of fluid coupling. This paper constructed the general equations of motion for the pipe-like fluid conveying tool shaft of deep hole drill. The proposed general equations can be reduced to different specific forms of former works. Solutions for lateral and longitudinal motions were given. Series of experiments were designed and performed. Comparisons between theoretical and experimental results confirmed the validity of the constructed equations. The studies disclosed build the knowledge about the tool shaft and pave the way for future research concerning the correlation between the tool shaft and cutting process taking place on the cutting head.
The shaft behavior of BTA deep hole drilling tool
(1996-05-01)
Chin, JH
;
Hsieh, CT
;
Lee, LW
;
機械工程學系
;
Department of Mechanical Engineering
This paper is a study on the shaft behavior of BTA deep hole drilling tool. The dynamics of tool shaft are often taken to be that of a second order lumped mass system for other cutting processes. This simplification does not apply for deep hole drilling because of its shaft length and the fact of fluid coupling. This paper constructed the general equations of motion for the pipe-like fluid conveying tool shaft of deep hole drill. The proposed general equations can be reduced to different specific forms of former works. Solutions for lateral and longitudinal motions were given. Series of experiments were designed and performed. Comparisons between theoretical and experimental results confirmed the validity of the constructed equations. The studies disclosed build the knowledge about the tool shaft and pave the way for future research concerning the correlation between the tool shaft and cutting process taking place on the cutting head.