三指夾爪系統的電路設計與實現

本論文提出三指夾爪系統所需之電路板的設計與實現方法，主要有三種：(1)夾爪控制電路板、(2)馬達驅動電路板、以及(3)感測器電路板。在夾爪控制電路板的設計與實現上，本論文提出一些有效縮小電路板體積的設計方法，將部分DIP型式之連接器零件改為SMD型式來縮小尺寸，同類型的訊號整合在一個連接器上，將所有的電子零件縮小化，將PCB電路板的疊構從二層板改為四層板的設計，PCB電路板多出二層的空間可以用來佈線，使得PCB電路板表面的零件排放的更加緊密，不同種類的訊號互相干擾的情形也會減少，有效的縮小PCB電路板尺寸。在馬達驅動控制電路板的設計與實現上，本論文提出選用功能比較簡單但足以滿足控制系統直流無刷馬達的需求，體積較小價格低的控制IC可以達到降低成本以及縮小空間的需求。在旋轉編碼器電路板的設計與實現上，本論文提出使用增量型編碼器來取代絕對型編碼器，其訊號容易轉換為運動相關的資訊，使得控制上更為方便，更為適合用在夾爪系統的應用。在實驗中使用電子儀器來量測電路板上電源轉換器的品質，對電路板上的各種控制訊號進行分析，確認訊號波形以及時序符合標準的規範。從實驗結果以及實際的成品中可以看出，本論文所提出的方法確實可以有效達成電路板縮小化，將各種電路板體積縮小化後使得系統整合的工作會更加容易，並且能夠將所有實現的電路板放置在夾爪系統的機構內部，完成一體化的設計。

關鍵字

三指夾爪； PCB ； DIP ； SMD

並列摘要

In this thesis, the circuit boards required for the three-finger gripper system are designed and implemented. There are three main types: (1) the gripper control circuit board, (2) the motor drive circuit board, and (3) the sensor circuit board. In the design and implementation of the gripper control circuit board, several design methods are proposed to effectively reduce the board size, and replace some DIP type connector parts with SMD type to reduce the size. The same type of signal is integrated into one connector. Moreover, all the electronic components are reduced, and the stacking of the PCB circuit board design is changed from the two-layer board to the four-layer board. The PCB board has two more layers of space that can be used for wiring so that the parts on the surface of the PCB board are discharged more closely, and the interference of different types of signals is also reduced. These can effectively reduce the size of the PCB board. In the design and implementation of the motor drive control circuit board, a control IC with a relatively simple function but sufficient to meet the requirements of the DC brushless motor of the control system is used. It is a small and low-cost control IC, which can reduce the cost and reduce the space. In the design and implementation of the rotary encoder circuit board, an incremental encoder instead of an absolute encoder is used. The signal is easily converted into motion-related information, which makes the control more convenient and more suitable for use in the application of the gripper system. In the experiment, electronic instruments are used to measure the quality of the power converter on the board, and various control signals on the board are analyzed to confirm that the signal waveform and timing conformed to the standard specifications. It can be seen from the experimental results and the actual finished products that the proposed method can effectively achieve the reduction of the board. The reduction of various circuit boards will make the system integration work easier and can let all the implemented boards be placed inside the mechanism of the gripper system to complete the integrated design.