三指夾爪系統的開發

本論文設計與實現二款具欠驅動手指與多夾取模式轉換的三指夾爪系統，主要有三個部分：(1) 夾爪機構、(2) 電路模組、以及(3) 系統整合與功能驗證。在夾爪機構的設計上，本論文分別提出具自適應性之欠驅動手指、具自鎖性之手指傳動機構、以及可轉換夾取姿態之手指旋轉機構的設計方法。所提出之欠驅動手指的多連桿驅動方式可以減少手指各關節在馬達上的使用數量，而具自鎖性之手指傳動機構可以有效提升夾爪的最大負載能力。此外，可轉換夾取姿態之手指旋轉機構讓三指夾爪具有三種夾取模式：(1) 舀取模式、(2) 平行夾取模式、以及(3) 包覆模式，讓夾取系統可以針對不同形狀與大小的物件，使用一個較佳的夾取模式來進行物件的有效地夾取。在電路模組的設計上，本論文提出了一些馬達驅動電路與夾爪控制電路的設計方法，讓所實現之三指夾爪系統的驅動與控制電路可以達到輕量化與縮小化的目的，完成電路可直接放置於機構內部的模組化目標。在系統整合與功能驗證上，本論文將所實現之三指夾爪系統放置在一台七軸機械手臂上來進行系統的整合測試，使用機器人作業系統(ROS)來建立一個人機操作介面，並且整合三指夾爪與機械手臂的控制系統。從實驗結果中可知，本論文所提出的三指夾爪系統確實可以依據物件的形狀與大小，使用一個適當的夾取模式來成功地夾取物件。

關鍵字

三指夾爪；欠驅動；自鎖性；模組化

並列摘要

In this dissertation, two three-finger gripper systems with underactuated finger and multi-mode grasp conversion are proposed. There are three main parts: (1) gripper mechanism, (2) circuit module, and (3) system integration and functional verification. In the design of the gripper mechanism, some design methods of an adaptive underactuated finger, a self-locking finger transmission mechanism, and a finger rotation mechanism that can convert the gripping posture are proposed. The proposed multi-link driving method for the underactuated finger can reduce the number of motors used for the finger joint and the self-locking finger transmission mechanism can effectively improve the maximum load capacity of the gripper. In addition, the finger rotation mechanism can convert the gripping posture to let the three-finger gripper have three gripping modes: (1) scooping mode, (2) parallel gripping mode, and (3) enveloping mode. It allows the gripping system to use a better gripping mode for effective gripping objects for different shapes and sizes. In the design of the circuit module, some design methods of the motor drive circuit and the gripper control circuit are proposed so that the drive and control circuit of the three-finger gripper system can achieve the design of lightweight and size reduction. This integrated modular design allows the implemented circuit can be placed directly on the mechanism. In the system integration and functional verification, the implemented three-finger gripper system is placed on a seven-axis robot manipulator for the system integration testing. The Robot Operating System (ROS) is used to establish a man-machine interface and integrate the three-finger gripper system and robot manipulator. It can be seen from the experimental results that the proposed three-finger gripper system can use an appropriate gripping mode to successfully grasp the object according to the shape and size of the object.