六自由度服務型機械手臂之開發與控制

Development and control of 6 DOF service robotic arm

廖威翰(Wei-Han Liao)

指導教授 ： 黃榮堂

國立臺北科技大學/機電學院/機電整合研究所/碩士(2014年)

摘要

本研究旨在開發一款機動型服務機器人之機械手臂，為求可以達成多樣化指定任務之需求，該機械手臂以六自由度為設計出發點，並且以更高扭矩輸出為方向設計高負載服務型機器人之機械手臂；並以模組化規劃與活動載具以及機械手爪之結合，使其可完成一服務型機器人系統。
於硬體部份本研究中採用Solidworks軟體繪製以及設計各零件並進行有限原素之分析，並透過機構達到自鎖功能，以及錐形齒輪機構完成六自由度之旋轉關節，且傳動方面採用鋼索使機構間設計更具彈性並有效減少扭矩損失。而後進行機械手臂運動學分析以及路徑規劃與驗證，模擬各運動姿態是否產生干涉以及相關影響；於電路部分以數位訊號處理器Arduino Mega 2560配合馬達驅動器以及外部機電整合電路實現位置控制以及指定任務，而軟體部份以程式撰寫圖型化人機介面功能使機械手臂更有利於操作以及控制。

關鍵字

機械手臂 ； Arduino ； 自動控制

並列摘要

In this study, we aims on develop a robotic arm of mobility service robot. In order to reach diversify mission been assigned, we design the robotic arm start with 6 D.O.F, and with higher torque output as the target to design a high load service robotic arm, then modular it to combined with robotic palm and activity vehicle, so that it can complete a service robot system.
For hardware part we apply Solidworks software to draw and design each part, then we using Finite Element Method to analyze it. It reach self-locking by special mechanical component, and using bevel gear complete three rotary joint which have 6 D.O.F. The transmission part using stainless steel wire rope make design more flexibility and reduce the torque loss. Furthermore, we make mechanical arm kinematic analysis, path planning and verification, then simulate the athletic stance whether have interference or not. The circuit part we adopt digital signal processor Arduino Mega 2560 with motor drivers and external mechatronics circuit to achieve position control and specified task. Finally the software part we using program to build a graphical HMI make the robotic arm easier operate and control.

並列關鍵字

Robotic arm ； Arduino ； Automatic control

參考文獻

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