智慧型機器手之設計

Design of Intelligent Robotic Hand

周立芃(Li-Peng Chou)

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(2009年)

https://doi.org/10.6342/NTU.2009.02925

摘要

本論文之主要目標為設計智慧型機器手。首先，本論文研發了一支輕巧的三指機器手，其類似於工業用夾爪；藉由特殊設計之繩索傳動機構，使其於抓握時手指會自動貼合被抓取物之形狀，因此非常易於控制。奠基於三指手之設計經驗，本論文更設計了一具有十個主動自由度之擬人型智慧機器手。經由解剖學方面的分析與最佳化設計之過程，使得此擬人型機器手之設計更加健全；此外，彈性串聯式制動器(series elastic actuator)與欠驅動機構(underactuated mechanism)之概念亦被應用於此機器手，使其機器手指具備順應性與高度靈巧性，但仍不失輕量與簡潔之特性。
最後，本論文設計了嵌入式控制系統，因此所有機構、制動器、控制器與感測器均可整合至機器手本體，使得機器手易於結合於其他系統，因此擁有廣泛的應用潛力。

關鍵字

機器手 ； 擬人型 ； 欠驅動 ； 繩索驅動 ； 夾爪

並列摘要

The main purpose of this thesis is to design the intelligent robotic hand. In this thesis, a three-fingered robotic hand, which is similar to the industrial gripper, is developed. This robotic hand is compact, lightweight, and low-cost. As the result of the special cable-driven mechanism, the robotic finger succeeds in automatically adapting to target objects so it’s easy to control this underactuated robotic hand. Next, based on the design experience of the three-fingered robotic hand, an intelligent humanoid robotic hand with 10 degrees of freedom (DOF) is designed in this thesis. Several anatomical analyses and optimization procedures are developed to improve the mechanism design. The concepts of series elastic actuator (SEA) and underactuated mechanism are also applied to give the robotic hand a compliant property and high dexterity. Hence, a succinct and functional robotic hand is devised.
Finally, an embedded controller system is designed. Since the robotic hands are equipped with controllers, actuators, mechanical components, and sensors, such compact design makes it easily implemented into wide range of applications.

並列關鍵字

Robotic hand ； Humanoid ； Unteractuated ； Cable-Driven ； Gripper

參考文獻

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