垂直式多關節機械手設計與應用

Mechanism Design and Application of Vertical Multi-joint Robot Arm

簡呈儒(Cheng-Ju Chien)

指導教授 ： 丁鏞

中原大學/工學院/機械工程研究所/碩士(2015年)

https://doi.org/10.6840/cycu201500916

摘要

本論文研究是透過齒輪組合搭配，可使用單一馬達的動力輸出，將三軸旋轉軸關節之機械手臂執行線性運動，藉此設計可以取代目前在自動化機構之中所使用的垂直式升降機構。並考慮如何縮小空間以及標準化的概念來進行研究。當面臨位置及行程改變時，若使用垂直式升降機構則需大幅度的修改且耗時，而標準化之機械手臂因其具有固定的動作範圍或行程，能因應工作路徑或行程的變更，不需要更動任何機械結構基礎。 本研究是以PCB 產業之物件輸送自動化所需之功能為範例，探討使用單一馬達動力輸出之三軸機械手臂的機構設計。建立三軸機械手臂的運動數學模型，及推導使用單一馬達執行直線運動之齒輪比。據此，設計三軸機械手臂並進行測試，驗證各項功能。

關鍵字

三軸機械手臂 ； 運動數學模型 ； 齒輪比

並列摘要

By means of an appropriate gear train, a robot arm constructed with three-axis rotary joint driven by only a motor is able to manipulate a linear motion. Such a design can replace using a robot arm with prismatic joint or a straight transmission mechanism for vertical material handling application. To reduce the structure space and use the concept of modular design is also important in this study. It is time consuming and needs a lot of effort to modify the system in case of change of manipulating position or trajectory while using traditional vertical transmission mechanism. A standard robot for specific manipulation is preferred in design so as to meet with any trajectory change without re-design of new mechanisms.
Using a robot manipulator of three-axis rotary joint driven by only a motor for an application example of material handling automation for Printed Circuit Board (PCB) is investigated in this article. Kinematic model of the three-axis robot manipulator is established. Design of gear train ratio for this robot manipulator to execute linear motion driven with a single motor is derived. A robot manipulator is built for testing and examining fundamental functions to evaluate the performance.

並列關鍵字

three-axis robot manipulator ； kinematic model ； gear train ratio

參考文獻

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