臺灣博碩士論文加值系統

本研究開發一款具有壓力感測回授且具有擬真外型之仿生機械手指系統，為了達到可以以小負荷力道抓取物體，同時利用仿生機械手指軟性外層保護受抓取物不被刮傷或損壞之目的。該手指實體部分使用SolidWorks設計並使用3D列印技術製作，包括仿生機械手指內骨架遠近端、手指安裝底座、伺服馬達驅動底座等，並使用3D 掃描之逆向工程技術(Reverse engineering)對真實人手進行建模，搭配Ansys Workbench進行手指骨架壓力分析驗證以及矽膠包覆模具製作。感測器部分使用壓電陶瓷作為壓力感測器提供回授，以及MPU6050陀螺儀模組作為仿生機械手指姿勢監控端，將上述兩種感測器安裝於手指骨架遠端部件，利用模具進行矽膠外層包覆。接續使用萬能試驗機對仿生機械手指成品進行壓力測試，並統整壓力範圍內仿生機械手指之類比訊號輸出變化，推導出相應的回歸方程式，從而匯入Arduino開發版用於仿生機械手指抓取物體時之壓力計算。本研究測試結果為透過自製模具成功做出仿生外觀矽膠包覆，且仿生機械手指可以穩定抓取物體而不掉落，實際抓取力道與系統所設定的壓力上限值誤差約為20公克，對受抓取物無任何表面刮傷或損傷，適合用於需與人類互動之服務型機器人，例如：老人長期照護，身心障礙者、醫療系統、或是服務業等。

This research aims to develop a bionic machanical finger system with pressure sensing feedback and a realistic appearance, designed to grasp objects with minimal force while using a soft biomimetic outer layer to protect the objects from scratches or damage. The physical parts of the finger, including the proximal and distal skeleton, the mounting base, and the servo motor base, are designed in SolidWorks and produced via 3D printing. Reverse engineering techniques using 3D scanning are applied to model a real human hand. Ansys Workbench is used for pressure analysis of the finger skeleton, and molds are created for the silicone covering. The pressure sensors utilize piezoelectric ceramics to provide feedback, and the MPU6050 gyroscope module monitors the finger's position. These sensors are installed at the distal part of the finger skeleton and encapsulated in silicone using molds. A universal testing machine is used to test the pressure on the biomimetic finger, and the resulting analog signal output variations within the pressure range are integrated to derive a regression equation. This equation is then programmed into an Arduino board for calculating the pressure when the biomimetic finger grasps objects. The testing results demonstrate stable object grasping without dropping, with an actual grasping force error margin of about 20 grams compared to the system's set pressure limit, and no surface damage to the grasped objects. This system is suitable for service robots that interact with humans, such as long-term care for the elderly, assistance for individuals with disabilities, medical systems, or the service industry.

摘要...i
Abstract...ii
誌謝...iii
目錄...iv
表目錄...vi
圖目錄...vii
第一章 緒論...1
1.1 背景...1
1.2 動機...1
1.3 研究目的...1
1.4 論文架構...2
第二章 文獻回顧...3
第三章 研究架構與方法...7
3.1 研究架構...7
3.2 硬體設備介紹...8
3.2.1 LCD光固化立體平板印刷3D列印機...8
3.2.2 熔融沉積成型3D列印機(Fused deposition modeling, FDM)...9
3.2.3 HT-2402 電腦式萬能試驗機...10
3.2.4 EinScan pro 3D結構光光柵掃描儀...11
3.2.5 數位角度尺...11
3.2.6 壓電陶瓷...12
3.2.7 Arduino Uno開發板...13
3.2.8 FT232RL模組...14
3.2.9 MPU6050陀螺儀模組...15
3.2.10 TCA9548A I2C多路擴展板模組...15
3.2.11 JX PDI-HV6223MG伺服馬達...16
3.2.12 Cavex牙科用印模粉...16
3.2.13 RTV矽膠...17
3.3 仿生機械手指外觀3D掃描建模及後處理...18
3.4 Solidworks手指骨架設計及打樣測試...22
3.4.1 手指遠近端設計...23
3.4.2 手指遠端端骨架結合3D建模手指之壓力分析...24
3.4.3 光固化3D列印打樣...27
3.5 矽膠包覆骨架之模具開發及測試...29
3.5.1 Ansys Workbench模穴製作...29
3.5.2 模具後處理設計...30
3.5.3 模具打樣測試...33
3.6 仿生機械手指底座與馬達驅動座設計及打樣...35
3.6.1 仿生機械手指底座...35
3.6.2 馬達驅動底座及捲線輪...38
3.7 仿生機械手指整體安裝...41
3.8 Arduino 程式架構...41
第四章 實驗結果及討論...43
4.1 驅動線拉伸試驗...43
4.2 仿生機械手指矽膠外層包覆測試...46
4.3 仿生機械手指壓力感測實驗...49
4.3.1 夾治具設計...49
4.3.2 壓力感測硬體架設...50
4.3.3 類比訊號及壓力數據統整...52
4.4 仿生機械手指陀螺儀數值測試...54
4.5 仿生機械手指抓取測試...56
4.5.1 破裂及表面傷害抓取結果...56
4.5.2 仿生機械手指壓力誤差測試...57
4.5.3 仿生機械手指機構最大壓力負荷值...57
第五章 結論與未來展望...58
5.1 結論...58
5.2 未來展望...58
參考文獻...60
Extended Abstract...61

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