- 學位論文
新型仿生連續體機械手臂之優化設計與實現
Design Optimization and Implementation of a Novel Biomimetic Continuum Manipulator
摘要
近年來連續體機械手臂在醫療、探勘及仿生產業上高速發展。鑒於傳統六軸機械手臂的作動條件拘於六個節點上不可輕易變形，而連續體機械手臂補足了體積小、重量輕及可以任意彎曲的特性，在操作上更具有高靈活度。本研究利用SolidWorks設計零件，透過傳統加工(如：車床)與非傳統加工(如：雷射切割)製作零件，選用熱塑管來提升連續體機械手臂的剛性，因此大幅降低結構中的鎖件需求及整體手臂的重量。在規劃實驗方面，以重現性實驗應證手臂的精準度，以機械視覺取得步進馬達移動回歸後的相對數值，除了能掌控手臂位移的精確性，透過空間座標求出連續體機械手臂的運動軌跡，再藉由負載控制實驗得知，其比未包覆熱縮管之連續體機械手臂的剛性強度為17倍，因此得知熱縮管可增加手臂的剛性也不失馬達控制的精確性。
並列摘要
Recently, continuum manipulators have been widely applied medical surgery, confined space exploring, and mimicking biological industries. Unlike traditional rigid link robot arm, continuum manipulators naturally execute whole arm manipulation, and can bend continuously via deformation of their flexible elements. Because of their inherent flexibility, continuum manipulators can perform securely within spatial restriction. This study uses SolidWorks software to design key component parts that are made from traditional machining (e.g. lathes) and non-traditional machining (e.g. laser cutting). In addition, thermoplastic tubes are used to enhance the stiffness of the continuum manipulators. Hence, this design methodology significantly reduces the need for fasteners in the assembly and the weight of the overall arm. The accuracy of the end-point positioning is verified by repetitive tests through machine vision and image processing. The proposed control scheme be able to promote the accuracy of end-point trajectory in spatial coordinates. Through from the loading capacity experiment, it is 17 times stronger than the stiffness of the continuum manipulators which is not covered with a heat shrink tube. Thus, it can conclude that the heat shrink tube can increase the stiffness of the arm without losing the accuracy of motor control.