用於平行氣動夾爪夾持力調整裝置之設計

Design of an Adjustable Grasping Force Device for Parallel Pneumatic Grippers

曾仲暐(Chung-Wei Tseng)

指導教授 ： 李志中

國立臺灣大學/工學院/機械工程學研究所/碩士(2020年)

https://doi.org/10.6342/NTU202002527

摘要

近年來自動化技術逐漸普及，機器人的任務不再只是針對單一工件進行夾取，它必須面對更多不同材質、大小的工件或是日常生活中的物品，甚至是對未知的物件做夾取。也因此具有順從性的機械手或是能夠改變夾持力的裝置已成為目前重要的研究方向。本研究提出一種調整平行氣動夾爪夾持力之機構，透過改變機構的剛性，對二指夾爪的夾持力進行控制。首先，本文針對現有的順從性機械夾爪進行分析，歸納出其設計目的及需求。接著介紹順從性致動器的原理且整理控制剛性的方法，並分析各方法之優劣，再根據本文的設計需求進行動力傳遞機構與剛性調整機構的設計。緊接著建立夾持力調整機構的理論模型。最後架設實驗平台進行夾持力的量測，以驗證機構可行性，最後分析誤差來源並且修正夾持力機構之理論模型。

關鍵字

夾持力控制 ； 機械夾爪 ； 槓桿機構 ； 可調整剛性致動器 ； 順從性致動器

並列摘要

With the growth of industrial automation in recent years, the grasping task of robots become more variable and complex. Therefore, a compliant manipulator or grasping force control has become a popular research topic. In this research, a device for adjusting the grasping force of parallel pneumatic grippers is presented. The grasping force can be controlled by adjusting the stiffness of the mechanism. This research elaborates the existing compliant grippers and summarizes their characteristics and design requirements. The principle of the compliant actuator and the stiffness control are introduced. Then the transmission mechanism and the stiffness control mechanism are proposed based on the functional requirement. The theoretical model of the adjustable grasping force device is established and a prototype is manufactured. Furthermore, the properties of the design are validated with the experiments and the errors of the experiments are discussed.

並列關鍵字

Grasping force control ； robotic gripper ； lever mechanism ； variable stiffness actuator ； compliant actuator

參考文獻

[1] 兆合豐科技網頁。http://www.ura.com.tw/ (accessed Jun, 23, 2020)。

[2] D. Pham and S. Yeo, "Strategies for gripper design and selection in robotic assembly," The International Journal of Production Research, vol. 29, no. 2, pp. 303-316, 1991.

[3] S. C. Jacobsen, J. E. Wood, D. Knutti, and K. B. Biggers, "The UTAH/MIT dextrous hand: Work in progress," The International Journal of Robotics Research, vol. 3, no. 4, pp. 21-50, 1984.

[4] S. Hirose and Y. Umetani, "The development of soft gripper for the versatile robot hand," Mechanism and machine theory, vol. 13, no. 3, pp. 351-359, 1978.

[5] R. Deimel and O. Brock, "A compliant hand based on a novel pneumatic actuator," in 2013 IEEE International Conference on Robotics and Automation, 2013: IEEE, pp. 2047-2053.