隨著現今3D列印技術不斷的創新與進步,且在學術界已被廣泛使用、研究,其技術是採用堆疊的加工方法製作,可大幅減少製作時間,避免不必要的材料浪費,也因其材料特性,能夠有效減少重量和製造上的成本。 本篇論文所設計之機械手臂是用SolidWorks繪圖軟體繪製,機構則是3D列印機所印製而成,在設計上透過材料特性,大幅減輕機械手臂重量,使得硬體在選用時有更多選擇,各關節之轉動則是由齒輪減速機構的設計概念來提升步進馬達之扭轉力,並使用圖控軟體LabVIEW,運算順/逆向運動學,推導各軸馬達的轉動角度,建構完整之機械手臂系統。最後針對機械手臂進行運動分析及討論。
With the ever-changing nature of 3D printer technology, and is widely implied in almost every way in academia, this technology is used in additive manufacturing method, reduce the produce time and material waste, effectively reduce production cost. In this paper, we used SolidWorks software to design robot arm, and mechanism is printed on 3D printers, through this technology, we can reduce robot weight and have more choices on machine equipment, used LabVIEW to kinematics calculations and derivation of motor rotation angle. Some robotic gripper experimental results will also display in this research.