Drive and Control Technology for Multi-axis Endeffectors of Robotic Arm

• Main Authors: He,Chong Yu, 何崇瑜
• Other Authors: Tsai, Meng Shiun
• Format: Others
• Language: zh-TW
• Published: 2015
• Online Access: http://ndltd.ncl.edu.tw/handle/8hvg2y

碩士 === 國立中正大學 === 機械工程學系暨研究所 === 103 === In the past, Systematic integration of industrial robot and robotic finger have two common problemes. First, The robot finger is constituted by many motors which require many set of drives. If the multiple drives cannot be integrated into one set, the wiring, signaling, control, are quite complicated. Second, The communication interface of industrial robot and robotic finger are different. Therefore, It's difficult to promote the system integration. This thesis improves the above issues which builds up integration platform for industrial robot and robotic. And it designed development board which applied to multi-axis motor control on robotic finger models. The purpose that the robotic finger integrates with industrial robot. The system controller built on PC-Based system, and with RTX Sub-system. Using EtherCAT communication method achieve multi-axis motor control. On the other hand, Development board is designed using four kinds of different chips to control motor on robotic finger model. The first, using field programmable gate arrays (FPGA) chip to design drive circuits. The FPGA with multi-pin feature can help to develop motion control easily. The second, using ARM embedded chip realize EtherCAT communication module. Through the development board combined with industrial robot. The third, Driver IC achieve the motor to drive . The fourth, External senser voltage signal using AD converter chip integrated into the system. Finally, the master can monitored servo-loop response, to achieve tuning. Finally, This thesis combined HIWIN six-axis articulated robot and PMC 12 freedom of the sucker fingers. To establish kinematic equation. And consideration of the finger located at the end sucker to be the best of the suction insert. The design makes moves ideal posture of robot and robotic finger. Finally, simulations are performed on C# to verify exactness and feasibility of the proposed inverse kinematic solutions.