| Summary: | 碩士 === 國立臺灣海洋大學 === 機械與機電工程學系 === 105 === Robotic arm has became an indispensable tool for industry and manufacturing now, even has also been used for adjuvant therapy in medicine, the reason is nothing more than to reduce costs, time, it is able to accurately meet the requirements.
In this experiment, Delta Robot is a kind of traditional mechanical arm, which belongs to parallel mechanism, has high load, rigidity and accuracy. However, the working space and motion analysis are relatively small and complicated. Using positive kinematics and inverse kinematics to analyze the arm Motion trajectory, and Matlab simulation to find the best workspace and optimize.
This study is mainly the design of the organization and the calculation of the working space, the use of SolidWorks first drawing parts to discuss the error rework, the use of equipment, including ASDA-A2 AC servo drive, servo motor and the PCI-1245.
Keywords: Delta Robot, Parallel Robot, Servo Motor, Reducer, MatLab, C #.
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