七自由度三指式機械手掌結合壓力感測之開發

本研究旨在於開發一種具有壓力感測之七自由度三指機械手，依功能性、可靠度、體積縮小化之設計目標，針對機械手各部進行機構設計與優化，為其選配並計算適當的驅動馬達齒輪組、蝸輪蝸桿組、皮帶與皮帶輪組及正齒輪組作為傳動系統，再使用電腦輔助設計軟體SolidWorks與電腦輔助分析軟體ANSYS進行設計並模擬分析，最後將實體開發完成。並使用電容式壓力感測器作為機械手掌之觸覺，以確定機械手碰觸到物品。本設計之七自由度三指式機械手，具有高自由度、體積小及觸覺感知之特點，可順利展現多種基本抓取姿態，並以細膩的仿人動作及合適的抓取力道，提供被照護者安全互動及適當的需求。

關鍵字

三指機械手；機構設計；電容式壓力感測器

並列摘要

The purpose of this study is constructing a seven-degree freedom and three-finger robot hand with pressure sensors. The most critical design goal of the robot hand includes multi-function, high reliability and small size, so we simplify system chain and select the suitable change gear sets, worm gear units, belts and pulleys, and spur gears as a driving mechanism. Before manufacturing, we make blue prints through the 3D CAD design software-SolidWorks and simulate the structures by CAE software-ANSYS. Finally, we combine the robot hand with capacitive pressure sensors. Capacitive sensors can be used to detect the pressure of gripping and ensure that the robot hand can pick up items. The ultimate aim of this study is to equip the service robot with the robot hand which designed by this study.

並列關鍵字

Three-Finger Robot Hand ； Mechanical Design ； Capacitive Pressure Sensors.

參考文獻

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七自由度三指式機械手掌結合壓力感測之開發

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