Mechanism Design and Application of Vertical Multi-joint Robot Arm
碩士 === 中原大學 === 機械工程研究所 === 103 === By means of an appropriate gear train, a robot arm constructed with three-axis rotary joint driven by only a motor is able to manipulate a linear motion. Such a design can replace using a robot arm with prismatic joint or a straight transmission mechanism for vert...
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| Format: | Others |
| Language: | zh-TW |
| Published: |
2015
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| Online Access: | http://ndltd.ncl.edu.tw/handle/75302932194312308426 |
| Summary: | 碩士 === 中原大學 === 機械工程研究所 === 103 === By means of an appropriate gear train, a robot arm constructed with three-axis rotary joint driven by only a motor is able to manipulate a linear motion. Such a design can replace using a robot arm with prismatic joint or a straight transmission mechanism for vertical material handling application. To reduce the structure space and use the concept of modular design is also important in this study. It is time consuming and needs a lot of effort to modify the system in case of change of manipulating position or trajectory while using traditional vertical transmission mechanism. A standard robot for specific manipulation is preferred in design so as to meet with any trajectory change without re-design of new mechanisms.
Using a robot manipulator of three-axis rotary joint driven by only a motor for an application example of material handling automation for Printed Circuit Board (PCB) is investigated in this article. Kinematic model of the three-axis robot manipulator is established. Design of gear train ratio for this robot manipulator to execute linear motion driven with a single motor is derived. A robot manipulator is built for testing and examining fundamental functions to evaluate the performance.
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