Design of Robotic Arm ACL-II for Mobile Robots and Its Application

• Main Authors: Po-Nan Chen, 陳柏男
• Other Authors: Li-Chen Fu
• Format: Others
• Language: en_US
• Published: 2009
• Online Access: http://ndltd.ncl.edu.tw/handle/63064098335555876905

碩士 === 國立臺灣大學 === 電機工程學研究所 === 97 === As robots enter the human society form the cloisters of industrial and military applications, it will be important for them to interact with human beings friendly. In human-robot interaction, one of the fundamental ways to communicate and express emotions is using arm’s pose, and another to coordinate activity and cooperatively perform useful work is to use robotic arms directly working with the others. For this reason, we design and physically build a pair of dexterous and light-weight robotic arms, called ACL-II, which are mounted on the robot “Julia”, a home service robot built by our laboratory earlier. With the arm, the robot will be able to generate emotional gestures and even assist a person in everyday tasks. This thesis starts with mechanism design, kinematics and dynamics analysis, and then ends by developing motion control of this arm. Moreover, we demonstrate the efficacy of our design by physical building of the arms and real experiment with applying the arm to handing objects to humans. Through this interaction, human and robot can easily accomplish the tasks together.