本文探討使用三個伺服馬達組裝Delta Robot機械手臂的過程,我們以Arduino UNO微電腦控制板作為主控制器,直接在Arduino UNO執行正向運動學及逆向運動學的動作關係的演算及機構驅動的設計。 我們設計之Delta Robot機械手臂可以執行點對點的移動,亦可事先設計好動作路徑讓機械手臂一次完成所有動作。 我們設計之Delta Robot機械手臂使用3種移動速率0.1m/s、0.6m/s及1.5m/s進行不同的移動速度進行測試,由於伺服馬達受到慣性影響,機械手臂速度變快停止時會出現震盪現象,顯示想提高機械手臂速度及定位精度必須加入馬達加/減速設計。
This paper discusses the mechanical assembly and control for Delta Robot arm, We use Arduino UNO microcomputer control panel as the main controller. Implementation of forward kinematics and inverse kinematics calculations directly in the Arduino UNO and body movements relationship-driven design. We designed the Delta Robot arm can perform point to point movement, also designed well in advance so that the robot arm motion path once all actions. Delta Robot using three kinds of the moving speed 0.1m / s, 0.6m / s and 1.5m / s at different moving speed test, Since the inertial effects Delta Robot, the mechanical arm shock phenomenon will stop, obviously we want to improve the speed and positioning accuracy of the robot arm must be added to the acceleration and deceleration of the motor design.