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研究生:游超智
研究生(外文):Chao-Chih Yu
論文名稱:類人手手指關節式腱驅動機構之運動模型建構與運動合成
論文名稱(外文):Kinematic Modeling and Synthesis of a Human Finger alike Articulated Tendon-Driven Manipulator
指導教授:陳達仁陳達仁引用關係
指導教授(外文):Dar-Zen Chen
學位類別:碩士
校院名稱:國立臺灣大學
系所名稱:機械工程學研究所
學門:工程學門
學類:機械工程學類
論文種類:學術論文
論文出版年:2009
畢業學年度:97
語文別:中文
論文頁數:42
中文關鍵詞:腱驅動機構構造矩陣等方向傳遞特性類人機械手指
外文關鍵詞:tendon-drivenstructure matrixisotropic transmission characteristicsfinger alike articulated manipulator
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本研究之主要目的是針對人手指建構一個類人手指關節式腱驅動機構運動模型,此運動模型符合腱驅動機構的設計條件與手指的解剖構造,並且能代表手指在運動與構造上的特徵。在解剖學與肌肉力學中,有介紹人手指指骨與關節的運動構造與描述肌腱主要的功能,因為手指的構造與運動十分複雜,本研究為了簡化建構模型的過程,以解剖學為基礎,將對手指構造提出合理的運動假設,將人手指不同的運動功能視為獨立。並在主要運動功能的方向上,建立一個類人關節式腱驅動機構的運動模型,可用來表達人手指在該運動方向上的構造。本研究將從類人關節式腱驅動機構的運動模型,找出腱驅動機構的構造矩陣,同時藉由構造矩陣須滿足的特性,獲得關節式腱驅動機構的滑輪尺寸大小特徵,並與解剖量測的結果做比對。研究最後藉由腱驅動機構達到等方向傳遞特性的條件,可以合成關節式腱驅動機構的滑輪尺寸。此研究結果將有助於類人機械手指的設計與了解手指的構造特徵。
The purposes of this research are modeling a human finger alike articulated tendon-driven manipulator which can represent human finger on kinematic structure, and finding out the kinematic characteristics of human fingers. By studying anatomy and muscle dynamics, this research has recognizing the tendon position and function, and the connection with phalanx and joint. This research assumes the motions of human fingers are independent, than the kinematic structures of finger can be simplified. In accordance with these assumptions, the kinematic model will be created. This model could present the major function and kinematic of human fingers and find the characteristics of pulleys of tendon-driven manipulator by studying the structure matrix of this kinematic model. Finally this research synthesize the pulleys of dimensions tendon-driven manipulator using the condition of isotropic transmission characteristics. This research establishes design criteria for finger alike articulated manipulator.
中文摘要 i
英文摘要 ii
誌謝 iii
目錄 iv
專有名詞中英對照 v
符號說明 vi
第一章 緒論 1
1.1 研究背景 1
1.2 文獻回顧 2
1.3 研究動機與目的 6
第二章 人手指的運動構造 7
2.1 手指的運動功能 7
2.2 手指的解剖構造 8

第三章 類人手指關節式腱驅動機構之運動模型建構 10
3.1 關節式腱驅動機構之構造假設 10
3.2 關節式腱驅動機構之運動模型 11

第四章 類人手指關節式腱驅動機構之構造矩陣 14
4.1 關節式腱驅動機構之構造矩陣型式 14
4.2 關節式腱驅動機構之滑輪尺寸特徵 16
4.3 腱於各關節的力臂大小量測數據 21

第五章 類人手指關節式腱驅動機構具等方向運動傳遞之運動合成 27
5.1 以腱拉力達等方向傳遞的條件之合成滑輪尺寸 27
5.2 以腱單位面積受力達等方向傳遞的條件之合成滑輪尺寸 31
5.3 其他可行的關節式腱驅動機構 35

第六章 結論 37
6.1 討論 37
6.2 未來研究方向 39
參考文獻 40
[1] Okada, T., 1977, “On a Versatile Finger System, “ The 7th International Symposium on Industrial Robots, Tokyo, Japan, pp. 345-352.
[2] Morecki, A., Busko, Z., Gasztold, H., and Jaworek, K., 1980,“Synthesis and Control of the Anthropomorphic Two-Handed Manipulator ,”The 10th International Symposium on Industrial Robots, Milan, Italy, pp. 461-474.
[3] Salisbury, J. K., and Craig, J. J., 1982, “Articulated Hands: Force Control and Kinematics Issues,” The International Journal of Robotics Research, Vol.1, No.1, pp. 4-17.
[4] Jacobsen, S.C., Iversen, E. K., Knutti, D. F., Johnson, R. T. and Biggers, K. B.,1986, “The design of the UTAH/MIT Dexterous Hand,” The IEEE International Conference on Robotics and Automation, pp.1520-1532.
[5] Wilkinson, D.D., Weghe, M.V. and Matsuoka, Y.,2003 “An Extensor Mechanism for an Anatomical Robotic Hand,” The IEEE International Conference on Robotics and Automation, Taipei,Taiwan, Vol.1, pp.238-243.
[6] Bundhoo, V. and Park, E.J. 2005 ” Design of an artificial muscle actuated finger towards biomimetic prosthetic hands,” The 12th International Conference of Advanced Robotics, pp.368 – 375.
[7] Lee, J. J., and Tsai, L. W., 1989, “Kinematic Analysis of Tendon-Driven Robotic Mechanisms Using Graph Theory,” The Journal of Mechanisms, Transmissions, and Automation in Design, Vol.111, No.1, pp.59-65.
[8] Lee, J. J., and Tsai, L. W., 1991, “On the Structural Synthesis of Tendon-Driven Manipulators Having Pseudo-Triangular Matrix,” The International Journal of Robotics Research, Vol.10, No.3, pp. 524-529.
[9] Ou, Y.J., and Tsai, L. W., 1993 “Kinematic Synthesis of Tendon-Driven Manipulators with Isotropic Transmission Characteristics,” The ASME Journal of Mechanical Design, Vol.115, No.4, pp.884-891.
[10] L. W., Tsai, 1999, “Robot Analysis-The Mechanics of Serial and Parallel Manipulators,” John Wiley & Sons, New York.
[11] Chen, D. Z., Su, J.C., and Yao, K.L, 1999 “A Decomposition Approach for the Kinematic Synthesis of Tendon-driven Manipulators,” The International Journal of Robotic System Vol.16, No.8, pp.433-443.
[12] Kathryn L., 1992.“Kinesiology : scientific basis of human motion ,” 8th ed., Brown & Benchmark, Dubuque, IA.
[13] Brand, P.W. and Hollister, A.M., 1993, “Clinical Mechanics of the Hand,” Mosby Year Book, St. Louis.
[14] Chang, S. L., and Tsai, L. W., 1993, “On the Redundant-Drive Backlash- Free Robotic Mechanisms,” The ASME Journal of Mechanical Design, Vol.115, No.2, pp. 247-253.
[15] An, K.N., Chao, E.Y., Cooney, W.P., and Linscheid, R.L., 1983. “Tendon Excursion and Moment Arm of Index Finger Muscles ,” The Journal of Biomechanics Vol.16, pp.419-425.
[16] Valero-Cuevas, F.J., Zajac, F.E., and Burgar, C.G., 1998,“Large index-fingertip forces are produced by subject-independent patterns of muscle excitation,” The Journal of Biomechanics, Vol.31, pp.693-703.
[17] Zajac, F.E., 1989. “Muscle and tendon: properties, models, scaling, and application to biomechanics and motor control ,“ Critical Reviews Biomedical Engineering Vol.17,No. 4, pp.359- 411.
[18] Strang, G., 1980,”Linear Algebra and Its Applications,“ 2nd ed., Academic, New York.
[19] 王明揚,王茂駿, 1996 ”勞工靜態與動態人體計測資料庫之建立,”行政院勞工委員會勞工安全衛生研究所研究報告IOSH85-H121,台北.
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