臺灣博碩士論文加值系統

近年來社會結構老人比例日漸增加，對於老人長期照護這方面，需求將會持續增加。因此機器人有必要向著以服務為目的的方向發展，本研究以開發照護型機器人之機械手臂，主要功能為具四十公斤負載的高扭力，與仿人手臂的六軸關節配置。推導運動學來控制自製的手臂，搭配OpenGL模擬，且利用Windows C#和ARM Cortex-M4架構之微處理器(MCU)作為平台，對其機構與機電系統進行驗證，與照護型機器人進行整合前先行測試，在照護型機器人身上搭配雙機械手臂，來進行各種居家照護任務，並且實現抬人的主要目標任務。

In more recent years, the elderly people is increasing the proportion of social structure. Long-term care for the elderly, which demand will continue to increase. Therefore, the robot is necessary for the purpose of service toward the direction of development. In this study develop the robot arm of a care robot. The main function of a high torque load of 40 kg. Humanoid arm configure six-axis joint. Derivation kinematics to control the robot arm. Using OpenGL to Motion simulation, And the use of Windows C # and microprocessor architecture of ARM Cortex-M4 (MCU) as a platform. To validate their mechanical and electromechanical systems, test before integrate with Care Robot. In the care robot body with double robot arm, to a variety of home care tasks ,and finish the main task: hold people.

摘 要 i
英文摘要 ii
誌 謝 iii
目 錄 iv
表目錄 vi
圖目錄 vii
第一章 緒論 1
1.1 前言 1
1.2 研究動機與目的 2
1.3 研究流程與步驟 4
1.4 文獻回顧 5
1.5 論文架構 9
第二章 機構關節配置 10
2.1 自由度探討 10
2.2 關節配置 12
第三章 機構設計與實現 15
3.1 扭矩計算 15
3.1.1 馬達選用 15
3.1.2 減速設計 19
3.2 機構設計 20
3.2.1 傘齒輪機構 20
3.2.2 基座設計 22
3.2.3 上臂設計 24
3.2.4 下臂設計 25
3.2.5 整體設計 25
第四章 運動學推導 28
4.1 順向運動學 28
4.2 逆向運動學 34
第五章 實測結果 37
5.1 整體系統架構 37
5.2 人機介面 39
5.3 韌體程式 45
5.4 機電系統 48
5.5 機構組裝 53
5.6 實際測試 59
5.6.1 軟韌體測試 59
5.6.1 機構測試 61
第六章 結論與未來展望 67
6.1 結論 67
6.2 未來展望 68
參考文獻 69

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