撓性機器人夾爪設計與量測之研究

A study on design and measurement of Robot gripper with Flexible materials

鄭翰陽(Han-Yang Zheng)

指導教授 ： 林啟瑞 ； 鍾清枝

國立臺北科技大學/機電學院/機電整合研究所/碩士(2011年)

https://doi.org/10.6841/NTUT.2011.00553

摘要

本文主旨在研究撓性機器人夾爪，以達到夾多種不固定形狀之物品，不固定形狀之物品可達數十種之多，最常出現在技能競賽比賽中，若能成功研發功能穩定的通用型機械人夾爪，將來亦可更進一步應用於工業上。
首先文獻探討真空式、磁力式與機械式的機器人夾爪，發現撓性機器人夾爪至今尚未有人深入研究之後，再對夾爪進行理論分析，並利用懸臂樑的力學理論與夾爪夾持力的分析，可對撓性機器人夾爪之構造與夾持力之關係確定，接下來進行撓性機器人夾爪之夾持力做一系列之測試，利用懸吊式系統測試比較後，發現於機器人夾爪的手掌上裝置手指24支，長165 mm，直徑 0.4mm之構造最容易夾取物品，研究結果顯示，撓性機器人夾爪張開200 mm可夾持外徑20∼100 mm的物品，使用6V電壓可夾持3 kg的物品。

關鍵字

撓性材料 ； 機器人 ； 夾爪

並列摘要

The purpose of this study is to design a flexible robot gripper that can catch a variety of items irregular shapes, which are mostly seen in the skill competition game. If a stable flexible robot gripper is successfully developed, it can be further used in industry.
First, the literature studied vacuum, magnetic-type robot grippers and found that flexible robot grippers haven’t been deeply studied by anyone. Then we do a theoretical analysis, and make use of the theory of cantilever mechanics and the analysis of the holding force of the gripper so that the relationship between the structure of the flexible robot gripper and the holding force can be obtained. Then we process a series of tests of holding power of the flexible robot gripper. Comparing the tests by using a suspended system, it is found that the best design of the structure is to install 24 fingers with a length of 165 millimeter and a diameter of 0.4 millimeter. This design is the best choice for the gripper to catch items with the least work. The research result shows that the flexible robot gripper can catch items ranging from a diameter of 20 to 100 millimeter when it open and that an item of 3 kilogram can be taken by the gripper when the voltage is 6V.

並列關鍵字

Flexible materials ； robots ； gripper

參考文獻

[11] S. C. Jacobsen, "The Utah/MIT dexterous hand : Work in progress," Int. J. Robot. Res, Vol. 3, no. 4, 1984, pp. 21–50.

[12] P.Michelman, "Precision object manipulation with a multifingered robot hand," IEEE Transactions on Robotics and Automation, vol. 14, no. 1, 1998, pp. 105-113.

[13] Z. Doulgeri and N. Fahantidis, “Picking up flexible pieces out of a bundle,” IEEE Robotics and Automation Magazine, vol. 9, no.2,2002, pp.9-19.

[14] Eric Brown, Nicholas Rodenberg, John Amend, Annan Mozeika, Erik Steltz, Mitchell R. Zakin, Hod Lipson, and Heinrich M. Jaegera, "Universal robotic gripper based on the jamming of granular material," PNAS, vol. 107, no. 44, 2010, pp. 18809–18814.

[1] 劉文魁著，全球機器人產業發展研究與前景預測;2008-2010年，北京：中經天縱經濟信息中心，2008，第120-136頁。