臺灣博碩士論文加值系統

隨著後疫情時代的到來，民眾對於零接觸、遠端照護、物流等概念的需求日益增加，促成了服務性機器人產業的迅速成長，並已超過工業用機器人。機器人可分為工業用機器人和服務性機器人兩種。現今機械手臂的趨勢更注重智能化、柔性化、輕量化和協作能力的提升，並強調與人類工作者的協同合作。這些趨勢將推動機械手臂在各個行業和領域的廣泛應用，為生產力和工作效率的提升帶來新的可能性。
目前國內外對機械手掌的研發主要集中在機械零件的組合或是在手套外加裝感測元件，造型尺寸和外觀與真人的手掌相距甚遠，難以與真人親近。而且目前尚未看到將感測器直接放置在機械手掌上讀取數值的技術在市面上。
本論文主要方向在探討服務型機器人的機械手掌壓力感測研究，運用霍爾感測原理，以改變永久磁鐵與霍爾感測器之距離，當磁場大小產生變化時，霍爾感應器輸出之電壓也隨之改變，據以量測出機械手只受到的壓力數值。
在設計電路方面，我們使用Arduino UNO板將霍爾感測器的類比數值轉換為數位值，並存儲在UNO板的暫存器中。然後，通過USB傳輸將這些值傳輸到電腦或行動裝置中。通過實驗和分析得到磁鐵與感測器之間距離和重量對高斯值的對應關係。測試結果顯示，在距離為5.5mm和重量為1.2kg時，感測器的高斯值趨近於最大值。再利用統計分析，建立距離和重量對高斯值的回歸方程式。

With the arrival of the post-pandemic era, there is an increasing demand from the public for concepts such as contactless interactions, remote care, and logistics. This has led to the rapid growth of the service robot industry, surpassing industrial robots. Robots can be divided into two types: industrial robots and service robots. The current trend in robotic arms emphasizes intelligence, flexibility, lightweight design, and collaborative capabilities, emphasizing cooperation with human workers. These trends will drive the widespread application of robotic arms in various industries and fields, bringing new possibilities for productivity and work efficiency.
Currently, both domestic and international research on robotic hands mainly focuses on the combination of mechanical components or the addition of sensing elements to gloves. However, the shape, size, and appearance of these robotic hands are far from resembling a human hand, making it difficult to create a sense of familiarity with humans. Moreover, the technology of directly placing sensors on the robotic hand to read values has not been seen in the market yet.
The main focus of this paper is to explore the research on pressure sensing in the mechanical hand of a service robot. The Hall effect principle is employed to measure the pressure applied to the robotic hand by altering the distance between a permanent magnet and a Hall sensor. When the magnetic field magnitude changes, the voltage output of the Hall sensor also changes, allowing for the measurement of the pressure value on the robotic hand.
In terms of circuit design, we use an Arduino UNO board to convert the analog values from the Hall sensor into digital values, which are then stored in the registers of the UNO board. Subsequently, these values are transmitted to a computer or mobile device via USB transmission. Through experimentation and analysis, the corresponding relationship between the distance, weight, and Gauss value is obtained. The test results indicate that at a distance of 5.5mm and a weight of 1.2kg, the Gauss value of the sensor approaches its maximum value. Regression equations for the distance and weight to Gauss value are established using statistical analysis.

摘要................................................i
Abstract...........................................ii
誌謝...............................................iv
目錄................................................v
表目錄..............................................vii
圖目錄..............................................viii
第一章 緒論........................................1
1.1 研究背景........................................1
1.2 研究動機........................................1
1.3 研究目的........................................2
1.4 論文架構........................................2
第二章 文獻回顧....................................3
2.1機械手臂感測方式研究...............................3
2.2 霍爾感測相關研究.................................6
2.3 ANSYS相關研究...................................13
第三章 研究架構與方法...............................16
3.1 研究架構與流程...................................16
3.2 硬體及系統架構...................................16
3.2.1 Arduino 硬體設備..............................16
3.2.2 分厘卡........................................18
3.2.3 霍爾元件......................................19
3.2.4 壓力感測器支架設計.............................20
3.3 軟體及程式架設...................................21
3.3.1 Arduino IDE編寫..............................21
第四章 實驗結果....................................23
4.1手指架構分析及設計................................23
4.1.1 ANSYS模擬指腹受力分部情況.......................23
4.1.2 電控系統設計及整合.............................25
4.1.3 未封矽膠之距離測試.............................25
4.1.4 封矽膠後距離測試...............................25
4.1.5 封矽膠後之重量測試..............................26
4.1.6 其他材質未封矽膠之重量測試......................26
4.2 實驗結果.........................................27
4.2.1 未封矽膠之距離和其他材質的重量測試...............27
4.2.2 包覆矽膠之距離與重量測試........................28
第五章 結論與未來展望...............................30
5.1 結論............................................30
5.2 未來展望........................................30
參考文獻............................................31
附錄................................................32
Arduino完整程式碼...................................32
Extended Abstract..................................36
1. Introduction....................................37
2. Experiment......................................37
2.1.1 Hardware architecture........................38
2.1.2 Software architecture........................39
3.Results and Discussion...........................39
4. Conclusion......................................40

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