臺灣博碩士論文加值系統

研究機器人之風氣近年來日漸普遍，國內外各類型機器人產品如雨後春筍般
不斷出現在各媒體上，如每年於日本機器人博覽會均發表多種服務型機器人，也
展出了多款未來機器人的原型，應用領域從教育娛樂、醫療照護到居家服務等等，
可看出機器人應用範疇之研究早已走出工廠，進入與我們息息相關日常生活各種
領域。
服務娛樂型機器人的成長潛力被大多數的機器人研究與市調機構所看好，有別於
工業機器人市場的成長趨緩。本研究是以研發之演奏型機器人亦可成為服務型機
器人或做為公開展場之表演。主要研究為演奏鋼琴機器人之機電控制，將探討樂
理、節奏與琴鍵之關係，進而研究鍵盤樂器的演奏技巧等等，讓演奏鋼琴機器人
可以依照音符與節奏來控制線性馬達、伺服馬達與氣壓元件，進而帶動機構至適
當位置來壓觸琴鍵，產生音樂，所使用元件將以上銀公司生產的關鍵零組件為主，
在於機械手掌的設計中，是以擬人型手掌為主要方向，所以利用五根手指來演奏
鋼琴，手指的作動包含手指旋轉、手指按壓、手指抬起的動作，3 個階段所需時間
必須符合節奏要求，透過機械手掌演奏電子鋼琴的方式，達到娛樂型型機器人的
之目的，期望藉此研究對國內娛樂型演奏機器人之發展，有所貢獻。

In recent years, the trends of robot become more popular in various types. No
matter in where, production of robots are always the spotlight. For example, Japanese
Expo Robots announces not only service robots in various types, but also future robots
in every year. It has been used in different applications such as education, entertainment,
health care and home care services, etc. Application of robot is closely in our daily life,
it is not only used in factory anymore.
It is different from the weak factory robot market growth raise. Robotics research
and the market research agency imagine that services entertainment robots is a
promising market, and it is full of potential. This research is focus on the electronic
control which can be used in service or exhibition. This research is deal with how to
control the robot and playing the electronic piano. It will concern the theory of music,
tempo and keys, and then this research will work for further playing skill of the robot
which can let the robot perform the right way and control the linear motors, stepper
motors, servo motors and pneumatic components to press the appropriate keys. Most of
the components in this robot are produced by HIWIN. The mechanical hand will play
the piano with many technical skills, swaying, pressing, up and down. These three
stages need to correspond with timing. By using this robot, we hope to achieve the
purpose of the entertainment robots to make a great contribution to the development of
entertainment playing robot.

第一章 緒論
第二章 手掌水平移動設計
第三章 機械手掌系統架構之實驗方法與理論
第四章 有限元素模擬分析
第五章 實驗結果與分
第六章 結論與未來展

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