| Summary: | 碩士 === 吳鳳科技大學 === 光機電暨材料研究所 === 104 === Abstract
This thesis mainly analyzes the inverse kinematics of robot axis by using the “Analytical method” which is employed to solve equations of the inverse kinematics for robot arm. Then in order to complete the motion, five-axis robot arm is used. Then the following data obtained by the calculation procedure of each axis is used by the system for the desired movement.
Usually, the 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 the interactive tasks. The robot arm require is used for lightweight works. For example, sending greetings to human or grabbing objects as it is 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 bevel gear. It then gives rise to a new design of mechanical arm, which places a different gear at respective joint. Also the elbow is equipped with worm gear which is having a self-locking function. Thus the robot arm is more stable and can lift itself up for longer time, even though the power does not come from the motor.
Keywords: mechanical arm, worm gear, bevel gear, Inverse kinematics analysis, analytical calculation method, motor controller.
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