| Summary: | 碩士 === 國立臺灣科技大學 === 高分子系 === 97 === As the progress, people have developed numerous types of robots to meet different demands. Nothing more than speed, precision, and the workspace are the main functions we will stress on robots. This paper aims at building up a high-speed and high-precision robot arm. We design joint components basing on the target functions. By estimating the required torque, we choose the suitable motors and harmonic drivers. Deriving the kinematics and differential kinematics formula of the robot to control the robot arm, and change the posture of the robot arm. Then, using tracking plan, we can move robot arm smoothly through the continuous path. By statics, we estimate the torque that each joint driver need to export to maintain the balance state, when the robot arm stays in specific posture. Finally, through position control experiment to prove the functions we design.
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