臺灣博碩士論文加值系統

近年來，工業4.0不斷的發展與推廣，使得工業模式逐漸以自動化取代勞力，並且安裝各類感測器去評估現在以及預估未來機台的狀態，現今機械手臂發展日漸成熟，重複精度小於0.01mm之機械手臂高度應用於各種精密組裝、焊接、單點搬運等工作，這類工業型機械手臂通常會以較強的結構與材料來達到高度的精度，但是其重量也會因此大增，因此較不適合安裝於移動載具上，近年崛起的Universal Robots其UR系列產品不僅有優異的協做功能、相比同payload機械手臂又具有相當輕的重量、驅動器內置於關節、協作性佳等優點使得該系列手臂被廣泛應用，UR系列產品payload通常由3至10kg，若要安裝於移動載具在工業產業進行搬運工作，可能需要更高的payload才得以達成，本研究在減速機方面使用新型二階擺線減速機來取代諧和減速機，使之能夠擁有更高的強度來承載更大的payload，馬達部分使用軸固定外轉式馬達(類似於輪轂馬達)，其價格低廉且易與新型擺線減速機安裝，馬達搭配經過特殊的方式解析霍爾感測器可以得到高精度地回授，因此可搭配伺服驅動器使用。

In recent years, the continuous development and promotion of Industry 4.0 has made the industrial model gradually replace labor with automation, and installed various types of sensors to evaluate the current and estimated state of the future machine. Nowadays, the development of robotic arms is becoming more and more mature, and the repeatability is less than 0.01 that used in various precision assembly, welding, simple pick and place task, etc. These industrial robots usually achieve high precision with strong structure and materials, but their weight will increase greatly. It is less suitable for installation on mobile vehicles. The Manipulator of Universal Robots (UR series), which have emerged in recent years, not only have excellent co-operation functions, but also have high payload weight ratio, the motor driver is built inside the joint, and have good collaboration. This UR series is widely used, it's payload usually ranges from 3 to 10kg. This article uses a novel two-stage cycloidal speed reducer to replace harmonic drive, so that it can have higher strength to load more weight, motor part uses shaft fixed external rotation motor (similar to hub motor), its low price and easy to install with new cycloidal reducer, motor with special way to analyze Hall sensor can get high precision feedback, so it can be used with a servo drive.

摘要 i
ABSTRACT ii
誌謝 iv
目錄 v
表目錄 vii
圖目錄 ix
第一章 緒論 1
1.1 前言 1
1.2 研究動機與目的 3
1.3 研究流程與步驟 5
1.4 文獻回顧 9
1.5 論文架構 14
第二章 機械手臂開發規格 15
2.1 先前技術探討 15
2.2 設計目標 19
2.3 設計規格 20
第三章 初代機構開發 23
3.1 馬達選用 23
3.2 減速機機構設計 25
3.2.1 擺線片介紹 27
3.2.2 初代減速機設計 29
3.2.3 二代減速機設計與裝配 37
3.2.4 減速機噪音量測 48
3.3 初代機械手臂機構設計 49
3.3.1 初代機械手臂規格與設計 49
3.3.2 DH矩陣建置 52
3.4 結構應力分析 54
3.4.1 機械手臂應力分析 54
第四章 機械手臂機電整合與控制 57
4.1 機械手臂機電整合 57
4.2 機械手臂控制流程 60
4.3 PID參數調整 62
第五章 實驗與結果分析 66
5.1 減速機背隙測量 66
5.2 減速機單臂負載實驗 68
5.3 機械手臂負載實驗 72
5.4 擺線片量測實驗 80
5.5 結果分析 84
第六章 結論與未來展望 85
6.1 結論 85
6.2 未來展望 86
參考文獻 87

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