不足驅動被動適應手指機構之設計

Abstract

隨著機器人技術的發展與進步，機械手在不同領域的應用，逐漸往高自由度與低控制複雜度等方向發展。本研究針對現有的連桿驅動式機械手進行分析，歸納出其特性與設計需求，並以系統化的方法合成出所需的三自由度封閉鏈手指機構；接著建立不足驅動手指機構的運動分析數學模型，以及抓取特定外形物體時，機構與接觸點位置的數學模型，藉由靜力分析建立機構在輸入力量與輸出力量之間的關係矩陣，得到各個指節與物體間的接觸力關係；設定手指機構於特定構型下的抓握力條件，訂出設計目標與設計限制，利用最佳設計的理論，求取機構的最佳尺寸，設計出合適的不足驅動被動適應手指機構，最後製造出實體機構模型以驗證。

With the rapid growth of robot application, a trend for robotic technology has been developed as manipulators with high mobility yet with less control complexity. To meet the need for such trend, design of underactuated passively adaptive manipulator has been proposed by some researches. This work analyzed the existing underactuated robotic mechanisms. The characteristics and the design requirement of such mechanisms are summarized. Mechanisms with three degrees of freedom are enumerated via mechanism synthesis method. The kinematic and static analysis of a mechanism obtained from the synthesis is performed. Subsequently, design optimization of the mechanism is discussed and conducted. Finally, a mock-up is built to test and validate the design.