類模組化多關節式機械手臂開發與精度量測

Abstract

隨著科技產業的日新月異，機械手臂已經逐漸成為非常重要的工業自動化設備，除了應用在加工製造業外，近年來也大量導入各種行業，如餐飲業、服務業、醫療業及娛樂業。所以快速組裝及方便使用也成了機械手臂的發展趨勢，未來並具有廣大的應用價值。本論文提出模組化關節機械手臂，由目標性能進行機構設計，機械手臂關節軸是以旋轉或樞轉，實現各關節模組化，並由此延伸模組化六軸機械手臂後再以順逆向運動學來建立手臂姿態和路徑規劃。文末並依照ISO 9283之國際標準規範來量測手臂定位精度。Owing to new technological advance, manipulators have become a very important industrial automation equipment. In addition to being used in the manufacturing, many industries can be found, such as catering, medical and entertainment, and so on. Therefore, quick assembling and easy use are the current development, and will have vast application potential. In this thesis a modular manipulator was developed. Based on the performance objective, the manipulator mechanism was designed. Each joint is actuated via a pivot or rotation. Thus, it is extended to a six-axis manipulator to fulfill the modular manipulator. Then, the forward/inverse kinematics are developed for the posture building and trajectory planning. Finally, the positioning accuracy of the manipulator was measured according to the ISO 9283.