智慧型移動式機械手臂之設計

Design of a mechanical arm for intelligent mobile

林哲祺(Che-Chi Lin)

指導教授 ： 陳美勇

國立臺灣師範大學/科技學院/機電科技研究所/碩士(2010年)

摘要

在現今科技產業日新月異的時代，機械手臂廣泛應用在工業自動化、微創手術、複雜且精密的產品生產、甚至替人類執行危險的任務，對人類的生活中帶來有極大的便利性，並且充滿著廣大的商機。
本論文研究之目的是設計擁有多個自由度的機械手臂搭配移動裝置，實現機械手臂能夠真正用在生活上的服務以及工作任務的執行。整個系統結合了影像處理技術，利用攝影機擷取到的影像來加以辨識後，將結果傳給控制器命令機械手臂執行相對應之動作。本研究主題並非是重覆執行同一件任務的傳統工業手臂，而是隨機判斷物體而執行任務，故必須額外推導順、逆向運動學用來處理物體在空間座標轉換到手臂轉軸角度的調配，產生運動軌跡並使用馬達致動器來進行物體夾取，以達到預先設定之任務，並且考慮到機械手臂展示時需要有優良的姿態協調去執行動作，讓機器人展示時更為生動活潑，祈使在人類未來的生活中，機械手臂的物體夾取系統能夠朝向更為複雜與高彈性的日常生活環境中。

關鍵字

機械手臂 ； 影像處理 ； 逆向運動學

並列摘要

Technology industry is changing in the current. Mechanical arm is widely used in industrial automation, minimally invasive surgery, complex and sophisticated products, even dangerous for the implementation of the tasks of human. Mechanical arm has brought great convenience in human life, and full of vast opportunities.
This paper presents the design of an automatic and intelligent mechanical arm with multiple degrees of freedom robot and mobile devices. Robots can really achieve in life with services and the implementation of tasks. The system combines the image processing technology. After the image which was captured by camera has been identified, the results passed to the controller and command corresponding to the mechanical arm movements. This topic is not a repeat of the implementation of the task with a traditional industrial arm, but random objects and tasks to judge. Therefore, the additional deduction must be smooth, inverse kinematics is used to handed the object space coordination in the transition to the deployment of the arm shaft angle, and trajectories generated using the motor actuator to carry out an object gripping. Moreover, taking into account the mechanical arm displayed a good attitude required to perform coordinated action. In the future, folder object robot system can take towards more complex and highly flexible environment in daily life.

並列關鍵字

Mechanical arm ； Image processing technology ； Inverse kinematics

參考文獻

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