多關節機器手設計應用於戲偶操控

本論文可以幫助傳統布袋戲文化發展，科技日新月異但傳統文化卻漸漸沒落，主要的原因是缺少人力，為此需要設法解決此問題，在這科技進步的時代，機器人是不可或缺的，尤其是在機器手臂的應用相當廣泛，舉凡精密加工、自動化控制、電子電機相關產業。現在大多機器手臂多為夾爪式，很少有多關節的機器手，進而想要做這方面的研究。本論文設計出一隻具有23維度的機器手掌，普遍的機器手掌包含義肢，大多使用線控操作，線控操作會因線的彈性疲乏以及自由度的受限導致動作不準確，因此我們在每個手指的關節處配置一顆伺服馬達以達到多活動度的實現，最後在手腕上做出3軸維度，進而達到總共23 DOF的機器手，在手的建模部分，採用3D繪圖搭配3D列印做出仿人型的手指，在應用的部分，我們利用使用者介面UI自行做出一套操偶系統，不僅可以做教學用也可以來演示簡單動作，讓現代科技結合傳統藝術，進而解決文化傳承以及保存。

關鍵字

文化保存；機器手；使用者介面

並列摘要

This thesis can help the development of traditional puppet culture. The technology is changing with each passing day, but the traditional culture is gradually declining. The main reason is the lack of manpower. It is necessary to solve this problem. In this era of technological advancement, robots are indispensable, especially The application of the robot arm is quite extensive, including precision machining, automation control, and electronic motor related industries. Most of the robotic arms are now jaw-type, and there are few multi-joint robots, and We want to do research in this area. This paper designs a robotic hand with 23 dimensions. The universal robot palm contains prosthetic limbs, most of which use wire-operated operation. The wire-operated operation will be inaccurate due to the elastic fatigue of the wire and the limitation of freedom. Therefore, we are in each A servo motor is arranged at the joints of the fingers to achieve multi-activity, and finally a 3-axis dimension is made on the wrist to reach a total of 23 DOF robots. In the modeling part of the hand, 3D drawing is used with 3D columns. Printed to make humanoid fingers. In the application part, we use the user interface UI to make a set of a coupler system, which can not only be used for teaching but also to demonstrate simple actions, so that modern technology can be combined with traditional art to solve Cultural heritage and preservation.