三指機械手機構設計與控制

Mechanism Design and Control of Three-Finger Robot Hand

翁振皓(Chen-Hao Weng)

指導教授 ： 黃榮堂

國立臺北科技大學/機電學院/自動化科技研究所/碩士(2012年)

摘要

本研究主旨在設計一三指機械手，讓三指機械手可以相似於人手可抓取任何物體。三指機械手共有8個可動關節，用7組直流馬達驅動，以ATmega2560為控制器作為控制核心，整合馬達控制、電路訊號擷取；並加入電位計及電容式壓力感測器做回授控制，使機械手可以耦合任何物體外型及抓取。

關鍵字

三指機械手 ； 電位計 ； 電容式壓力感測器 ； ATmega2560

並列摘要

This study aims to design of a three-finger robot hand, the three-finger robot hand can capture any object like human hand. The three-finger robot hand comprises: eight revolute joints driven with 7 DC motors, and ATmega2560 microcontroller as control core which combines motor control, signal reading from the joint potentiometers and the capacitive pressure sensors. By this way the robot hand can capture any object with various appearances.

並列關鍵字

Three Finger Robot Hand ； Potentiometer ； Capacitive Pressure Sensors

參考文獻

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