具兩夾持模式與三種姿態之不足驅動被動適應夾爪之設計

Design of an Underactuated and Passively-Adaptive Gripper with Two Grasp Modes and Three Configurations

洪揚(Yang Hung)

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(2016年)

https://doi.org/10.6342/NTU201601690

摘要

隨著機器人技術在不同領域應用上的發展與進步，機械夾爪逐漸朝著高自由度與低控制複雜度等方向發展。本研究針對現有的聯桿驅動式機械手指機構進行分析，歸納出其特性與需求，並以系統化的方法合成出具兩種夾持模式的三自由度手指機構；接著分別建立出不足驅動手指機構兩種夾持模式的運動分析數學模型，和抓取特定外形物體時，機構與接觸點位置的數學模型；緊接著利用靜力分析建立兩種夾持模式的輸入力量、各連桿的受力及輸出力量關係，可以得到在兩種夾持模式下的各種狀態時所需的推力和在抓握特定外形物體時各個指節的接觸力和所需要的外力。並且設定手指機構的限制條件、設計目標和設計參數，利用最佳設計的方法與理論，求得機構的最佳尺寸，設計出合適的不足驅動被動適應手指機構；最後針對手指姿態轉換機構進行分析，歸納其特性與設計需求，並設計出手指姿態轉換機構並將其與手指機構整合。接著探討RC伺服馬達的控制原理，並建構出一套控制方法達成三種夾持姿態。最後製造出實體夾爪模型以驗證

關鍵字

不足驅動 ； 被動適應 ； 手指機構 ； 手指姿態轉換機構 ； 最佳化

並列摘要

With the rapid growth of robot application, a trend for robotic hand technology has been developed as robotic hand with high mobility yet with less control complexity. To meet the need for such trend, underactuated passively adaptive finger mechanisms with finger relocating mechanism has been proposed by some researches. This work analyzed the existing underactuated finger mechanisms and finger relocating mechanisms. The characteristics and the design requirement of such mechanisms are summarized. For underactuated fingers, mechanisms with three degrees of freedom are enumerated via mechanism synthesis method. The kinematic and static analysis of a chosen mechanism are performed often the enumeration. Subsequently, design optimization of the mechanism is discussed and conducted. For finger relocating mechanism, conceptual design of the mechanism is proposed and discussed. The control method is established to reach three grasp configuration. Finally, the finger mechanism and finger relocating mechanism are integrated, and then a mock-up is built to test and validate the design.

並列關鍵字

underactuated ； passively adaptive ； finger mechanism ； finger relocating mechanism ； optimum design

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