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研究生:王至丞
研究生(外文):Chih-Cheng Wang
論文名稱:連桿驅動式機械人手設計
論文名稱(外文):Design of a Humanoid Robotic Hand with Linkage Mechanism and Linear Actuators
指導教授:陳傳生
指導教授(外文):Chwan-Hsen Chen
學位類別:碩士
校院名稱:元智大學
系所名稱:機械工程學系
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:機械手掌連桿機構線性馬達機構設計
外文關鍵詞:robotic handlinkage mechanismlinear actuatormechanism design
相關次數:
  • 被引用被引用:1
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本論文開發了一具新型之機械手掌,採用線性馬達及4連桿機構驅動,不使用齒輪及腱帶設計,解決間隙的問題,在體積及重量上也得到相當大的改善。
手掌包含4隻手指,14個可動關節及10個自由度;使用10個小型線性直流馬達,並透過四連桿機構驅動手指動作。本機械手掌尺寸接近一般成年男性手掌,而手掌本體包含所有馬達控制板的重量只有500公克,不但可以適用於人形機器人上,也可以作為殘障人士的義肢。
控制板使用嵌入式控制系統及分散式控制系統設計,所有馬達控制板均鑲嵌於機械手掌中;共使用10顆(Micorchip dsPIC33FJ128MC202)單晶片,個別控制10顆直流伺服馬達。其中一顆微控制器擔任主控制器,以UART埠連結個人電腦;內部透過I2C BUS通訊,連結其餘的微控制器,交換資料與指令。每具微控制器都具有馬達運動控制、路徑規劃、電流(力量)監控的功能。
在實體製作上使用ABS材料快速成型技術,藉由ABS材料的特性,完成了高強度、低成本之機械手掌,適合裝配於各式機械手臂上。
This thesis presents a development of a novel humanoid robotic hand. The developed hand has four fingers, a thumb and three fingers totally with 14 movable joints, which consist of 10 active joints and four linked joints.
The robotic hand is designed with linkage mechanism and linear actuators. Because of the backlash problem, there aren’t any bevel gear transmission system and wire system in the drive mechanism. The robotic hand with this design has more accurate finger positions control and force control.
We also develop control boards with embedded control system. The control board receives the control command from computer by UART port, and use I2C BUS to communicate each other, and it has three control abilities – the motion profile, motor position control, and force detector.
Following the mechanism designs in this thesis, we make a life-size robotic hand with high stiffness by rapid prototyping technique.
摘 要 ........................................................................................................................ i 
ABSTRACT ...................................................................................................................... ii 
誌 謝 ...................................................................................................................... iii 
目 錄 ...................................................................................................................... iv 
圖 目 錄 ...................................................................................................................... vi 
表 目 錄 ..................................................................................................................... vii 
第 1 章  緒論 ............................................................................................................... 1 
1.1  研究動機 ....................................................................................................... 1 
1.2  論文大綱 ....................................................................................................... 2 
第 2 章  文獻回顧與探討 ........................................................................................... 4 
2.1  人形機械手掌 ............................................................................................... 4 
Shadow-Hand .................................................................................................... 4 
Gifu-Hand ......................................................................................................... 5 
DLR-Hand ......................................................................................................... 6 
NAIST-Hand ..................................................................................................... 6 
Twendy-One’s Hand .......................................................................................... 7 
Aiko’s Hand ...................................................................................................... 8 
2.2  文獻探討 ....................................................................................................... 8 
第 3 章  機械手掌設計 ............................................................................................... 9 
3.1  人手之抓取特性 ........................................................................................... 9 
Virtual Finger (VF) ......................................................................................... 10 
Pad opposition ................................................................................................. 10 
Palm opposition ............................................................................................... 11 
Side opposition ................................................................................................ 12 
Virtual Finger 3 ............................................................................................... 12 
VF應用 ........................................................................................................... 13 
3.2  目前問題與解決方法 ................................................................................. 15 
尺寸過大 ......................................................................................................... 15 
間隙問題 ......................................................................................................... 18 
自由度的多寡 ................................................................................................. 19 
v

3.3  本章總結 ..................................................................................................... 19 
第4章  機械手掌機構 ............................................................................................. 21 
4.1  設計要點 ..................................................................................................... 21 
自由度 ............................................................................................................. 21 
尺寸 ................................................................................................................. 22 
減少間隙 ......................................................................................................... 23 
手指數量 ......................................................................................................... 23 
4.2  手掌機構 ..................................................................................................... 24 
手指抓握機構 ................................................................................................. 24 
拇指開合機構 ................................................................................................. 26 
小指開合機構 ................................................................................................. 27 
機械手掌規格 ................................................................................................. 28 
第5章  控制系統 ..................................................................................................... 32 
5.1  嵌入式系統 ................................................................................................. 32 
5.2  I2C通訊架構 .............................................................................................. 33 
5.3  機械手掌操控界面 ..................................................................................... 34 
第6章  實做測試與評估 ......................................................................................... 36 
6.1  手掌動作測試 ............................................................................................. 36 
6.2  手掌性能測試 ............................................................................................. 37 
Pad opposition抓取測試 ................................................................................ 37 
Palm opposition 抓取測試 ............................................................................. 38 
Side opposition抓取測試 ............................................................................... 38 
VF3 抓取測試 ................................................................................................. 39 
6.3  實驗結果 ..................................................................................................... 39 
第 7 章  結論 ............................................................................................................. 40 
參考文獻 ..................................................................................................................... 41
[1]. H. Liu, K. Wu, P. Meusel, G. Hirzinger, M.H. Jin, Y.W. Liu, S.W.Fan, T. Lan, Z.P.Chen, ” A Dexterous Humanoid Five-fingered Robotic Hand,” Proceedings of the 17th IEEE International Symposium on Robot and Human Interactive Communication, art. no. 4600694, pp. 371-376, 2008.
[2]. Kenji Kaneko, Kensuke Harada, and Fumio Kanehiro, ” Development of Multi-fingered Hand for Life-size Humanoid Robots,” Proceedings - IEEE International Conference on Robotics and Automation, art. no. 4209206, pp. 913-920, 2007.
[3]. S.C. Jacobsen, E.K. Iversen, D.F. Knutti, R.T. Johnson, K.B. Biggers, ” Design of the UTAHh4.I.T. Dextrous Hand,” 1986.
[4]. 鄭剴元, ”多手指機械手掌設計與控制,” 元智大學,碩士論文, 2008.
[5]. 劉立偉, “多手指人工義手之研製與整合,” 台灣大學, 碩士論文, 2002.
[6]. J. ButterfnR, M. Fischer, M. Grebenstein, S. Haidacher, G. Hirzinger, ” Design and Experiences with DLR Hand II,” Robotics: Trends, Principles, and Applications - Proceedings of the Sixth Biannual World Automation Congress, WAC, pp. 105-110,2004.
[7]. Grigore Gogu, ” Mobility of mechanisms: a critical review,” Mechanism and Machine Theory 40 (9), pp. 1068-1097, 2005.
[8].Thes Iberall, ” Human prehension and dexterous robot hands,”International Journal of Robotics Research 16 (3), pp. 285-299, 1997.
[9]. Matthew T. Mason, ” Mechanics of Robotic Manipulation,” pp. 35-36, 2001.
[10].Tokuji Okada, ” Computer Control of Multijointed Finger System for Precise Object-Handling,” IEEE Transactions on Systems, Man and Cybernetics SMC-12 (3), pp. 289-299, 1982.
[11]. http://www-arts.sssup.it/newCyberhand/, Cyberhand Project website.
[12]. http://www.dlr.de/rm-neu/en/desktopdefault.aspx/, website DLR.
[13]. http://www.projectaiko.com/,Aiko project website.
[14]. http://twendyone.com/, Twendy-one Robot website.
[15]. http://www.shadowrobot.com/hand/, Shodow Robot Company website.
[16]. http://robotics.naist.jp/research/naisthandhp_enadj/NAIST-Hand_e.htm, NAIST Robotics Laboratory website.
[17]. http://www.kk-dainichi.co.jp/e/gifuhand.html, Dainichi Company website.
[18]. http://www.touchbionics.com/professionals.php?section=5, Touchbionics Company website.
[19]. http://www.firgelli.com/, Firgrlli company website.
[20]. http://www.61mcu.com/list.asp?ProdId=0087, 北京億學通電子網頁
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