| Summary: | 碩士 === 吳鳳科技大學 === 光機電暨材料研究所 === 103 === This thesis mainly analyzes axis robot inverse kinematics using commercial software Working Model which is employed to solve equations of the inverse kinematics for robot arm. Then in order to complete the motion control of the five-axis robot by the motion control system, the above obtained data of the reverse movement (Inverse Kinematics) of each axis through the motion control system.
Usually, the mechanism design technology of robot arm is principally focused on the non-mobile and non-interactive mechanical arms for industrial applications. The mechanism design of robot arm emphasizes the interaction between humans and robot arm. To achieve these interactive tasks, robot arms require to be both lightweight and flexible, for example, sending greetings to human or grabbing objects as programmed.
It can be seen from the experimental results that the motor located at the shoulder of robot arm delivers power to hand through the timing elbow belt. Since the arm is relatively heavy, belt needs regular maintenance due to its fatigue, fracture and other shortcomings resulting in the failure to lift itself up for long period of time. It then gives rise to a new design of mechanical arm, which places a turbine scroll bar at each joint. By doing so and for the reason that the turbine scroll bar is equipped with mechanical self-locking function, the robot arm is more stable and can lift itself up for longer time since the power does not come from the motor nor bypass the joint. To meet the applications of motion control card, a rear end motor encoder is installed allowing both control card and mechanical arm to function properly and reducing the failure rate of robot arm.
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