設計與實現仿生機器手爪
碩士 === 國立高雄第一科技大學 === 電機工程研究所碩士班 === 104 === Mechanism of machine grasper needs more enough degree of freedoms and functionalities to grasp objects. In this thesis, the models of bionic machine graspers based the rule of golden ratio is design and implemented. And to reduce wasting time and cost d...
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| Format: | Others |
| Language: | zh-TW |
| Published: |
2016
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| Online Access: | http://ndltd.ncl.edu.tw/handle/14959474249758563859 |
| Summary: | 碩士 === 國立高雄第一科技大學 === 電機工程研究所碩士班 === 104 === Mechanism of machine grasper needs more enough degree of freedoms and functionalities to grasp objects. In this thesis, the models of bionic machine graspers based the rule of golden ratio is design and implemented. And to reduce wasting time and cost during implementation, the designed models are drawn in SolidWorks for improving based on inspection and simulation.
The implementation of bionic machine graspers are controlled by servo motors via single chip for corresponding behaviors. The experiments of servo motor control include grasping force, grasping tennis ball and grasping a weightlifting bar. The experiments demonstrate that the implementation is consistent with the design in simulation. The force to grasp objects is enough, but the graspers need extra force to overcome friction and flexible force.
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