適用於果實採摘之六軸繩索機械臂機構設計與運動模擬分析

Abstract

機器人迄今發展相當地迅速，因應各種不同任務的需求，發展出不同類型的機器人。而機械手臂是具有相當程度的重要性，工廠內的生產線大量的被機器手臂所取代。本研究預計設計一個由繩索驅動的機械手臂，利用機械臂上的夾具對植物工廠中層架或是田間的作物進行夾取或採摘。其機械臂朝向輕量化，體積小，耗能低的方向進行設計。透過機構設計與運動學等將機械手臂所需的工作空間進行模擬，同時對機械手臂在空間中的路徑進行規劃，避障使得機械手臂在空間中能夠平順的移動。最後將靜力學和動力學所計算出來得知各軸關節所需的扭矩之關係，並且利用扭力彈簧機構來做重力所產生的扭矩補償，進而來讓機械手臂所消耗的能量降低。

Today, the robot have developed very fast, and numerous types of robots to solve different tasks. A manipulator play the important role of this area, lots of people on the production line in factory replaced by manipulators. This thesis aims at designing a manipulator which driven by the cables, use the gripper to reach and grip the target in the plant factory or in the field. Light, small, lower power consume are this manipulator design guidelines. According to the mechanism design and kinematics, simulate the working space. Also using the cubic spline and the velocity planning to plan the path so the manipulator can move smoothly and avoid the obstacle in the Cartesian space. Finally, combine the statics and dynamics results to estimate the torque that each joints driver need to export to maintain the whole system. Use the spring to countervail the torque which produce by gravity, so that the energy can be reduced.