| Summary: | 碩士 === 國立臺灣科技大學 === 材料科學與工程系 === 100 === In recently years, intelligent robots have been matured increasingly, the robot arm system claims our attention because it can do autonomous precise assembly task; large-scale or the heavy-scale transporting work; 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. By 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 the robot arm smoothly through the continuous path. By statics, we estimate the torque that each joint driver need to export to maintain its balance state, when the robot arm stays in specific posture. Finally, through position control experiment are conducted to prove the functions we design.
|
|---|
