機械手臂控制和夾爪機構設計之研究

陳建初(Chien-chu Chen)

指導教授 ： 董必正

國立中央大學/工學院/機械工程學系/碩士(2012年)

摘要

我們設計出裝載三個關節手指的機械夾爪，由馬達帶動一導螺桿，使導螺桿上的滑塊往上或往下移動，進而帶動固定於手指傳動軸上的三個連桿，讓三爪齒輪關節手指做出抓取或放開的動作，至於抓取的力道，則是由我們安裝在手指端的壓力感測器來決定，最後可以一個固定力抓起我們要的物品，控制器的部分，我們是以微處理器dspic30f4011和TOSHIBA-TB6549PG驅動IC組成電路控制夾爪。

關鍵字

關節手指 ； 機械夾爪 ； 微處理器 ； 壓力感測器

並列摘要

Nowadays, the robot plays an important role in the industry automation. The robot manipulator and the robot gripper can be adopted in not only the delicate robots but also the industrial gripper which are commonly used in the general factories. The robot manipulator and gripper help us a lot in many aspects, especially in the production efficiency and in the enhancement of product quality. In this project, designing the robot gripper of three fingers and then putting them into practice in grabbing the object have been performed. This robotic system consists of the scorbot-er VII, the gripper and the force sensor, the Self-propelled vehicle and the controller. The controller includes microprocessor dspic30f4011 and driver IC TOSHIBBA-TB6549PG. Experimental studies have been conducted to verity that the designed gripper can be successfully controlled to grip an object with a constant force.

並列關鍵字

gripper of three fingers ； Micro-controller Unit ； robot ； force sensor

參考文獻

[2] J.K.Salisbury and J. J. Craig, “Articulated hands:force control and kinematics issues,” Int. J.Robot Research, Vol. 1, No. 1, pp. 4–17, 1982.

[3] B. M. Jau,“Dexterous telemanipulation with four fingered hand system,”

IEEE International Conference on Robotics and Automation, pp.338–343, 1995

[4] S. J. Lederman and R. L. Klatzky, “Hand movements: A window into herpetic object recognition,” Cognitive Psychology, pp. 342-368,1987.

[5] S.T. Venkataraman T. Iberall Editors, Dexterous Robot Hands, Springer- Verlag New York BerhnHeidelbeing, 1990.