具七自由度三指式機械手掌之機電系統整合與控制實現

本研究主旨是關於服務型機器人的機械手掌系統整合與控制實現，所採用的機械手掌是一款由本實驗室所自行開發的七自由度(Degree of Freedom, DOF)三指式機械手掌UTL-Hand II。手掌內部的控制核心採用ATmega2560做為主要控制器，以處理手指基本功能如馬達控制訊號輸出、感測器類比訊號擷取、與計算關節角度變化做為回授控制基礎。關於感測器部份選用旋轉電位計與實驗室自行開發的壓力感測模組，經訊號擷取與運算後取得各部位的角度及壓力值；硬體方面由於機械手掌的體積需要縮小化，因此研究中也針對功能需求進行相關電路的重新布局。最後，此研究使用電腦軟體Visual Studio透過C#撰寫設計操作介面，使用者可以直接通過介面下達控制命令，經晶片運算以處理控制感測系統後，進行相對應的驅動動作，達到人機介面互動之功效，也可以達到服務型機器人所需之功能以滿足使用者所需。

關鍵字

機械手掌； ATmega2560 ；擬人化；機電系統整合；人機介面

並列摘要

The main of this research is about integration of mechatronic with control implementation of robotic-hand. The service robot is developed by our laboratory and the hand is driven by DC-motor with sevens degree of freedom. The hardware control is using a micro-controller (ATmega2560) as control core, which mainly deals with the control function of finger, such as integration of DC motor control, reading analog signals and calculating the degree changes during actuation. Due to reduce the volume of hand, the distribution of the wires need to be plan and re-layout circuit. The part of sensors we're choosing is rotary potentiometer to get the motion degree of each joint, used a type of pressure sensor module developed by our laboratory that can be sensing the pressure value from hand. Finally, the use of computer software design a human-machine interface by Visual Studio for user can be issued commands from the user interface so that the hand can catch up complex shaped objects and reach humanoid actions.

並列關鍵字

Robot hand ； ATmega2560 ； Anthropomorphic ； Mechatronic Integration ； Human-machine interface

參考文獻

[11] 周立芃，智慧型機器手之設計，碩士論文，臺灣大學機械工程學研究所，2009。

[8] J. Butterfass, M Grebenstein, H Liu, and G Hirzinger, “DLR-Hand II: Next Generation of a Dextrous Robot Hand,” International Conference on Robotics and Automation, Vol. 1, pp. 109-114, 2001.

[9] Robonaut, NASA. (2014). [Online]. Available: robonaut.jsc.nasa.gov/

[13] muRata. (2014). [Online]. Available: www.murata.com/index.html

[14] LM35,Texas Instruments. (2014). [Online]. Available: www.ti.com/product/lm35

國際替代計量

具七自由度三指式機械手掌之機電系統整合與控制實現

未授權

主題瀏覽