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    Title: SCARA機器臂之設計與實現
    Other Titles: Design and implementation of SCARA robot arms
    Authors: 陳奕郕;Chen, Yi-Cheng
    Contributors: 淡江大學電機工程學系碩士班
    許駿飛
    Keywords: SCARA機器臂;順向運動學;逆向運動學;SCARA Robot;Forward Kinematics;Inverse Kinematics
    Date: 2015
    Issue Date: 2016-01-22 15:06:37 (UTC+8)
    Abstract: 現今產業所使用的機器人大都以機器臂的形式呈現,其中SCARA機器臂是最廣泛實際應用的自動化機械裝置之一,除了主要用於工業製造、醫療救援、軍事保全等等的地方外,甚至在探索太空等領域都可以發現其應用的蹤跡,其最大的優點就是能快速且非常精準的執行固定模式的動作,藉此提升了工作效率及縮短了作業時間。
    本論文目標為設計與實現可以撰寫文字及繪畫圖形的SCARA機器臂,包含機器臂機構、控制板及控制演算法等部分,所設計的SCARA機器臂機構共有兩種,一種是利用壓克力材料和三顆RC伺服馬達組合而成,另一種則是利用樂高積木和三顆直流伺服馬達組合而成。所考慮SCARA機器臂的機構,在左右兩臂上各有一顆馬達用於控制機器臂左右或前後移動,也就是用來模仿人們寫字的動作,在機構中間的馬達用來控制機器臂抬起或放下的動作,也就是用來模仿人們抬筆寫字跟運筆等等的高度問題。在控制部分,本論文分別選擇NXC和Arduino來實現控制SCARA機器臂的程式,在本論文中兩種SCARA機器臂機構的移動皆是利用順、逆向運動學來實現,其中順向運動學是已知的左、右臂馬達角度推導出畫筆的座標點,逆向運動學則以座標點反推出左、右臂馬達的轉動度數。最後,經由實驗結果可以發現本論文所提出的兩種SCARA機器臂均可以成功地進行撰寫文字及繪畫圖形的動作。
    Robot arms are mainly using in nowadays industry, especially for SCARA robot arms, since it is one of the automatically machine which is used in most industry. We can find that the SCARA robot arm is used in industry manufacture, medical assistance and military safety, even for searching out space. Being fast and accurate to do the same actions for saving time and improving working efficiency is the strong point of this robot arm.
    The purpose of this thesis is for designing the SCARA robot arm to write words and draw pictures. There are two kinds of robot arms, including the parts of machine structure controlling board and control algorithm. One is made by acrylic material and three RC server motors and the other one is using Lego NXT and three DC server motors to make up. There is a motor in each side of the SCARA robot arm to control the left, right, front and back movement; it’s for imitating people writing words. The middle motor is for controlling the whole machine up and down movement and it’s imitating for the height when people raising up pens or moving pens for writing. Furthermore, NXC and Arduino are the mainly program for SCARA robot arms in this thesis. These two programs are both similar with C++ programing language so it can promote the convenience for using. The movements of these two kinds of SCARA robots are both using forward and inverse kinematics to make. Finally, it can be proved through experimental results that the two SCARA robot arms both can write words and draw pictures in this thesis.
    Appears in Collections:[電機工程學系暨研究所] 學位論文

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