本論文提出一個六軸機械手臂之機構的設計實現方式以及一個夾爪之機構的設計實現方式與其控制方法。在六軸機械手臂之機構的設計實現上，本論文提出一些加強機構剛性以及馬達與減速機的配置方式來改善原先六軸機械手臂會晃動的問題，並且自行設計組裝一個諧和式減速機。在夾爪之機構的設計實現上，本論文設計一個音圈馬達傳動的機構，所實現的機構可以提高夾爪之行程為音圈馬達最高行程的二倍。在音圈馬達控制的設計實現上，本論文設計一個模糊控制器，並且用遺傳演算法來找到一個近似的最佳解參數集，使得所設計的模糊控制器會讓音圈馬達有不錯的控制效果。此外，在夾爪之開合精準度上，本論文設計一個量測平台來量測所設計實現之夾爪的開合精準度。從一些比較結果可知，本論文所提控制方法確實可以讓所設計實現的音圈馬達夾爪具有較佳的控制結果。 In this thesis, a mechanism design and implementation method of a six-axis robot manipulator, a mechanism design and implementation method of a gripper, and a control method for the gripper are proposed. In the design and implementation of the six-axis robot manipulator, a harmonic driver is designed and implemented, and some methods of strengthening mechanism rigidity and configuration reducer are proposed to improve the shaking problem of the previous six-axis robot manipulator. In the design and implementation of the gripper, a transmission mechanism with a voice coil motor is designed so that it can raise the gripper’s stroke to be twice of the maximum stroke of the voice coil motor. In the design and implementation of the voice coil motor control, a fuzzy controller based on a genetic algorithm is proposed to find an approximate optimal solution set of parameters so that the fuzzy controller can let the voice coil motor have a good control performance. Moreover, in the accuracy of the gripper’s opening and closing, a measurement platform is designed to measure the accuracy of the gripper’s opening and closing. From some comparison results, we can see that the implemented voice-coil-motor-based gripper controlled by the proposed control method does have better control results.
