本論文主要為進行一仿人形機械手臂設計及控制之研究，以開發人形機器人的關鍵組件及電控系統設計為目標。主要包括：

1. 仿人形機器手臂結構之設計：主要包含肩關節設計、上下臂設計、肩關節與上臂連接設計、上下臂連結設計、下臂末梢腕關節設計，總共六個可動關節。每一個可動關節之機械構成使用行星式減速機帶動機構可動處，前四者馬達與減速機驅動接面使用皮帶輪驅動，後二者使用齒輪直接驅動，設計機械手臂時以一普通人手臂之比例作為設計。

2. 仿人形機器手臂電控系統之設計：所設計的仿人形手臂機構主要由直流伺服馬達所驅動，由於必須驅動的軸數達六軸，若進一步考慮將來結合手掌設計之擴充彈性，總驅動軸數將高達20軸以上。因此本論文的電控系統設計將植基於嵌入式系統之架構，每一直流伺服馬達搭配一伺服控制介面卡，伺服控制介面卡上主要包括控制晶片、功率晶體、記憶體儲存馬達的狀態行為、串列通信埠接收來自主控電腦/電路板的驅動命令，並進而單獨完成閉迴路之伺服控制。藉此架構之設計，每一介面卡與一直流伺服馬達結合後，其功能有如RC馬達單體，藉由主控電腦/電路板下達命令到各單體，以分散式控制的架構即可輕易達成仿人形機器手臂之操控。

3. 人機介面系統設計：使用人機介面系統來設計各個軸的運動情形與狀況，手臂的運動可藉由簡單的介面輔助進而加以設計與擴充，人機介面的圖文引導可讓一般人進行簡單操作。

4. 電源系統設計:穩定的電源供應為仿人形機器手臂操控之關鍵，本論文所有關節及電控系統與周邊電路所需之電源，經估算後，並整合設計有一電源供應系統，以提系統操控所需之電力來源。

The aim of this thesis is to design and control a humanoid robot arm. Robot arm is the major component of humanoid robot. The nimble motion of humanoid robot strongly depends on the mechanism design and control of robot arm. In this thesis, the humanoid arm design includes shoulder design, upper and lower arm design, joints design for connecting shoulder and upper arm, upper and lower arms and the end-effector wrist joint design. And the electrical control system is implemented by embedded system. It contains a mother control board and multiple servo control cards. Each servo control card receives a control command and finishes the desired motion independently. The main objectives of this thesis are list as follows.
1. The humanoid robot arm design It includes shoulder design, upper and lower arm design, and joints design for connecting shoulder and upper arm, upper and lower arms and the end-effector wrist joint design. Each joint is driven by DC servo motor with suitable gear train connected.
2. Electrical control system design The humanoid robot arm has six axes at least. Considering the future work which integrates the hand design, the totally axes will be more than 20 axes. Therefore, this thesis developed a DC servo control card including embedded chip, power module, memory, and communication port. The servo control card receives the command such as pulse command, voltage command or pulse width modulation command and finished the close loop servo control. Combing the servo card and DC servo motor will become a new independent unit which function is similar to RC type servo motor. Therefore, the multi-link humanoid robot arm can be control easily just like the RC robot.
3. Human machine interface design Integrating the electrical control system and the humanoid robot arm to develop a humanoid robot arm platform. The human machine interface can plan the robot motion trajectory and display the necessary data. It also can guide the operator to operate the robot motion easily by graph and text indication.
4. Power system design The robot operation needs a stable power system. This thesis evaluates the totally power consumption and design a power supply system to guarantee the system stable operation.

摘要 i
英文摘要 iii
誌謝 v
目錄 vi
表目錄 viii
圖目錄 ix
符號說明 xii
符號說明 xii
第一章 緒論 1
1.1 研究動機與目的 1
1.2 文獻回顧 2
1.3 本論文貢獻 4
1.4 章節概要 5
第二章 機械手機構設計 6
2.1 簡述 6
2.2 機械手臂架構 7
2.2.1 行星式減速機（Planetary Gearboxes） 8
2.2.2 時規齒輪（Timing Gear） 9
2.2.3 機械手臂關節分解解說 10
A.大車輪旋轉之肩膀關節 12
B. 大字形平伸之肩膀關節 15
C. 上臂旋轉之肩膀關節 17
D. 上下臂彎曲之手軸關節 19
E. 下臂旋轉之手腕關節 21
F.手掌結合之旋轉手腕關節 24
2.3 完成之機械手臂 26
第三章 電控系統設計 29
3.1 馬達驅動電路 31
3.2串列傳輸介面 32
3.3 EEPROM記憶體擴充介面 36
3.4 馬達定位控制的設計 37
3.4.1 馬達參數尋找 37
3.4.2 程式流程 40
3.4.2.1特殊功能說明 43
第四章 系統整合與人機介面系統 44
4.1系統介紹 44
4.2人機介面系統操作範例 49
第五章 實驗結果 51
5.1 減速機相關資料 51
5.2 馬達相關資料 51
5.2.1 馬達規格 52
5.2.2 馬達轉移函數 52
5.3 伺服控制介面卡控制結果 56
第六章 總結及未來發展 63
6.1總結 63
6.2本論文貢獻 63
6.3未來發展 64
參考文獻 66
作者簡介 69

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