八軸機械手臂之設計與控制

Design and Control of an 8-Axis Manipulator

黃士益(Shih-Yi Huang)

指導教授 ： 黃漢邦

國立臺灣大學/工學院/機械工程學研究所/碩士(2013年)

https://doi.org/10.6342/NTU.2013.01338

摘要

本文主要分為兩個部分。第一部分主要利用模組化二軸驅動系統的特性來設計一隻八軸機械手臂。此特殊的變形機構可以使機械手臂摺疊成像小方盒的形狀，以便於收納或是攜帶。也可變形成工業用機械手臂來執行任務或是變形成擬人形機械手臂來與人互動。此設計為世界上第一個可攜帶式的工業用機械手臂。
第二部分則將單隻機械手臂的控制與應用擴充到兩隻機械手臂，並利用阻抗控制來實現雙手臂協調控制。我們在兩隻六軸機械手臂的手腕處裝上六軸力規，用來測量手臂與物體間的相互作用力。當雙手臂系統在穩定拿著物體的時候如有外力作用在物體或手臂上，手臂會順從外力作用的方向移動，同時仍穩定的拿著物體，亦即可達成安全的人機互動。
將此變形機構設計及雙手臂阻抗控制概念應用到人類的生活環境中，可以使機器人與人類能夠更安全得互動

關鍵字

可攜帶式機械手臂 ； 模組化二軸驅動系統 ； 雙手臂協調控制 ； 阻抗控制 ； 人機安全互動

並列摘要

This thesis is aimed to design a compact industrial robot arm and then extend the one arm to two arms so that the robot can safely interact with human beings. It is divided into two parts. The first part is to design an 8-axis manipulator by using the dual-axis modularized actuator (DAMA) system. This special designed mechanism of the 8-axis robot arm makes it folded on itself like a small-sized rectangular box, which is convenient for storing and carrying. The 8-axis robot arm is not only good for factory use but also good for humanoid application. This kind of 8-axis robot is the only design of the robot in the world.
The second part of this thesis extends the one robot arm to two robot arms and uses impedance control to realize two-arm coordination control. We establish the 6-axis force sensors, which can measure the interaction force between the arm and the object, in the wrists of the two humanoid robot arms. When an external force acts on the object or on the arms, the arms can move compliantly with the direction in which the external force acts, and simultaneously stably holds the object so that the safety human-robot interaction can be achieved.
Applying this design concept and two-arm coordination control to the environment in which humans live, the robot is shown to safely interact with human beings

並列關鍵字

8-Axis Robot Arm ； DAMA ； Two-Arm Coordination Control ； Impedance Control ； Safety Human-Robot Interaction

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