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系統識別號 U0026-2004201920290900
論文名稱(中文) 纜繩差動傳動機械手臂之研製
論文名稱(英文) Development of Cable Differential Drive Robot Arm
校院名稱 成功大學
系所名稱(中) 工程科學系
系所名稱(英) Department of Engineering Science
學年度 107
學期 2
出版年 108
研究生(中文) 洪伯豪
研究生(英文) Bo-Hao Hong
學號 N96061371
學位類別 碩士
語文別 中文
論文頁數 63頁
口試委員 指導教授-周榮華
口試委員-侯廷偉
口試委員-何明字
中文關鍵字 纜繩  低慣量  差動傳動機構  運動學  共振  再現性 
英文關鍵字 Cable  low inertia  Cable differential driven  Dynamics  Resonance  reproducibility 
學科別分類
中文摘要 本研究的目標,為建立一具以纜繩(cable)傳遞動力的低慣量機械手臂,並且將所有馬達都安裝於底座中以實現低慣量的目標。機械手臂在工業實際運用中強調的是高速與再現性,傳統上採用更高規格的馬達與特殊材料減輕其重量。為了與一般機械手臂有相同的運動軸,本研究採用2組不同的纜繩差動傳動機構,並且測試其再現性。
首先依目標性能設計機構,透過有限元素法找出脆弱處及共振頻率,並加強其結構及避免共振。先由運動負載分析找出最大負載來決定馬達規格;接著配合馬達,製作控制系統及挑選韌體;同時考慮可製造性與可組裝性,於定位實驗,評估再現性及理論減速比來檢視設計;最後成功完成低慣性機器手臂的研製。
英文摘要 SUMMERY
In industrial applications of robotic arms, speed and reproducibility are the primary concern. These two goals are typically achieved by using special motors and/or materials to reduce the weight and inertia and are costly. Thus, the purpose of this thesis is to develop a low-inertia robotic arm through power transmission by cables and installing all motors in the base as an alternative.
In order to keep the same motion axis as the general robotic arm, a cable differential transmission mechanism was used in this study. In total, two different application methods were used and the reproducibility of those two methods were tested.
In the design process, the strength and natural frequency of the mechanisms were analyzed by finite element simulations to overcome the weakness for improvement.
With the proper selection of the motors and their controllers according to the maximum pay load of the mechanism, the robotic system was made by 3D printing for its manufacturability and assemblability, Afterwards, the system was tested and its functions were validated by the good reproducibility of executing the desired tasks. Thus, the system demonstrates its functions successfully.
論文目次 中文摘要 II
Extended Abstract III
目錄 IX
圖目錄 XI
表目錄 XV
第一章 緒論 1
1.1研究動機 1
1.2研究背景 2
1.3論文目的 6
1.4論文架構 6
第二章 相關技術與理論 8
2.1.傳動機構 8
2.1.1差動驅動(Differential Drive) 8
2.1.2纜繩驅動(Cable Drive) 9
2.1.3 雙差動式絞盤 10
2.2 動力學與運動學分析 10
2.2.1運動學 11
2.2.2 順向運動 11
2.3 齒輪 14
2.3.1齒輪系 14
2.3.2行星(周轉)輪系 15
2.4角度量測 16
第三章 差動式纜繩傳動機械手臂建造 18
3.1 機械手臂目標 19
3.2 系統概念 21
3.2.1 馬達驅動相關電路 22
3.3 機械手臂自由度分布 22
3.4機構設計 24
3.4.1基座(J1) 25
3.4.2 基座(J2 & J3) 28
3.4.3 手肘(Elbow) 29
3.4.4終端器 (End effector) 30
3.5關節負載分析 35
3.5.1致動器與減速裝置 41
3.6 結構優化 42
3.7韌體GRBL 46
3.7.1步進控制 47
3.8 操作介面GUI 49
3.8.1 操作方式 51
第四章 實測結果與討論 52
4.1 取放測試 52
4.1.1取放測試 53
4.2 荷重測試 55
4.2.1 Elbow & End effector荷重測試 56
4.2.2 Base 荷重測試 57
4.2.3荷重取放 58
第五章 結論與建議 60
5.1結論 60
5.2 建議 60
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