本論文設計與實現二款具欠驅動手指與多夾取模式轉換的三指夾爪系統，主要有三個部分：(1) 夾爪機構、(2) 電路模組、以及(3) 系統整合與功能驗證。在夾爪機構的設計上，本論文分別提出具自適應性之欠驅動手指、具自鎖性之手指傳動機構、以及可轉換夾取姿態之手指旋轉機構的設計方法。所提出之欠驅動手指的多連桿驅動方式可以減少手指各關節在馬達上的使用數量，而具自鎖性之手指傳動機構可以有效提升夾爪的最大負載能力。此外，可轉換夾取姿態之手指旋轉機構讓三指夾爪具有三種夾取模式：(1) 舀取模式、(2) 平行夾取模式、以及(3) 包覆模式，讓夾取系統可以針對不同形狀與大小的物件，使用一個較佳的夾取模式來進行物件的有效地夾取。在電路模組的設計上，本論文提出了一些馬達驅動電路與夾爪控制電路的設計方法，讓所實現之三指夾爪系統的驅動與控制電路可以達到輕量化與縮小化的目的，完成電路可直接放置於機構內部的模組化目標。在系統整合與功能驗證上，本論文將所實現之三指夾爪系統放置在一台七軸機械手臂上來進行系統的整合測試，使用機器人作業系統(ROS)來建立一個人機操作介面，並且整合三指夾爪與機械手臂的控制系統。從實驗結果中可知，本論文所提出的三指夾爪系統確實可以依據物件的形狀與大小，使用一個適當的夾取模式來成功地夾取物件。

In this dissertation, two three-finger gripper systems with underactuated finger and multi-mode grasp conversion are proposed. There are three main parts: (1) gripper mechanism, (2) circuit module, and (3) system integration and functional verification. In the design of the gripper mechanism, some design methods of an adaptive underactuated finger, a self-locking finger transmission mechanism, and a finger rotation mechanism that can convert the gripping posture are proposed. The proposed multi-link driving method for the underactuated finger can reduce the number of motors used for the finger joint and the self-locking finger transmission mechanism can effectively improve the maximum load capacity of the gripper. In addition, the finger rotation mechanism can convert the gripping posture to let the three-finger gripper have three gripping modes: (1) scooping mode, (2) parallel gripping mode, and (3) enveloping mode. It allows the gripping system to use a better gripping mode for effective gripping objects for different shapes and sizes. In the design of the circuit module, some design methods of the motor drive circuit and the gripper control circuit are proposed so that the drive and control circuit of the three-finger gripper system can achieve the design of lightweight and size reduction. This integrated modular design allows the implemented circuit can be placed directly on the mechanism. In the system integration and functional verification, the implemented three-finger gripper system is placed on a seven-axis robot manipulator for the system integration testing. The Robot Operating System (ROS) is used to establish a man-machine interface and integrate the three-finger gripper system and robot manipulator. It can be seen from the experimental results that the proposed three-finger gripper system can use an appropriate gripping mode to successfully grasp the object according to the shape and size of the object.

目錄
目錄	I
圖目錄	IV
表目錄	VII
第一章 緒論	1
1.1 研究動機與目的	1
1.2 文獻回顧	4
1.3 論文架構	7
第二章 三指夾爪之系統架構與軟硬體設備	8
2.1 三指夾爪之規格介紹	8
2.2 三指夾爪之硬體控制架構	10
2.3 硬體元件與軟硬體開發平台	11
第三章 三指夾爪之機構設計與分析	25
3.1 機構設計流程	25
3.2 欠驅動手指	27
3.3 手指傳動機構	37
3.4 夾取模式轉換平台	41
3.5 夾爪機構規格驗證	45
第四章 三指夾爪之電路模組設計	47
4.1 馬達驅動電路	47
4.2 夾爪控制電路	51
4.3 模組化電路	56
第五章 三指夾爪之運動學	58
5.1 三指夾爪結構分析	58
5.2 手指D-H參數表	59
5.3 運動學推導	63
第六章 三指夾爪之夾取功能驗證	65
6.1 夾取功能驗證	65
6.2 系統整合測試	69
第七章 結論與未來展望	76
7.1 結論	76
7.2 未來展望	79
參考文獻	80
研究著作	86
獲獎經歷	87

圖目錄
圖2.1、三指夾爪之硬體系統架構圖	11
圖2.2、直流無刷馬達結構圖[26]	12
圖2.3、直流無刷馬達及控制驅動電路之架構圖[26]	12
圖2.4、旋轉編碼器種類示意圖	16
圖2.5、A/B正交訊號讀取方式示意圖[31]	18
圖2.6、磁旋轉編碼器之磁鐵安裝配置圖	19
圖2.7、SOLIDWORKS 3D繪圖介面示意圖	20
圖2.8、ALTIUM DESIGNER電路繪圖介面示意圖	21
圖2.9、CODE COMPOSER STUDIO整合開發環境介面示意圖	22
圖2.10、ARDUINO整合開發環境介面示意圖	23
圖2.11、STM32CUBE介面示意圖	24
圖2.12、KEIL C整合開發環境介面示意圖	24
圖3.1、機構設計流程圖	26
圖3.2、欠驅動連桿運動狀態模擬圖	28
圖3.3、人類手指結構圖[40]	28
圖3.4、欠驅動手指機構圖	29
圖3.5、第一代欠驅動手指運動狀態模擬圖[26]	30
圖3.6、第一代手指結構示意圖	30
圖3.7、第一代三指夾爪夾取測試圖[26]	30
圖3.8、第二代手指結構示意圖	31
圖3.9、第二代欠驅動手指平行四邊形機構示意圖	32
圖3.10、第二代欠驅動手指運動狀態模擬圖	32
圖3.11、第二代三指夾爪夾取測試圖	33
圖3.12、第二代三指夾爪手指收合角度示意圖	33
圖3.13、第三代欠驅動手指連桿結構示意圖	34
圖3.14、第三代欠驅動手指運動狀態模擬圖	34
圖3.15、第三代欠驅動手指之近指節機構極限示意圖	35
圖3.16、第三代欠驅動手指之近指節開合角度示意圖	35
圖3.17、第三代欠驅動手指之遠指節機構極限示意圖	36
圖3.18、第三代三指夾爪之平行夾取測試圖	36
圖3.19、第三代三指夾爪之包覆夾取測試圖	37
圖3.20、手指傳動機構比較圖	37
圖3.21、第一代手指傳動機構實體圖	38
圖3.22、第二代手指傳動機構示意圖	39
圖3.23、第二代手指傳動機構實體圖	40
圖3.24、蝸桿蝸輪機構比較圖	40
圖3.25、夾取模式轉換平台機構圖	41
圖3.26、夾取模式轉換平台齒輪配置圖	42
圖3.27、三種夾取模式示意圖	42
圖3.28、第一代夾取模式轉換平台實體圖	43
圖3.29、第二代夾取模式轉換平台示意圖	44
圖3.30、手指機構外擴問題示意圖	44
圖3.31、第三代夾取模式轉換平台示意圖	45
圖3.32、第二代三指夾爪機構規格尺寸示意圖	46
圖3.33、第三代三指夾爪機構規格尺寸示意圖	46
圖4.1、第二代馬達驅動電路實體圖	49
圖4.2、第三代馬達驅動電路示意圖	50
圖4.3、電流檢測電路示意圖	50
圖4.4、第三代馬達驅動電路架構圖	50
圖4.5、第二代夾爪控制電路架構圖	52
圖4.6、第二代夾爪控制電路實體圖	52
圖4.7、ADC訊號隔離示意圖	53
圖4.8、降壓電路之RIPPLE & NOISE示意圖[52]	54
圖4.9、振盪器電路量測示意圖	55
圖4.10、第三代夾爪控制電路架構圖	56
圖4.11、驅動與控制電路配置示意圖	57
圖5.1、三指夾爪結構圖	59
圖5.2、 與 無共平面示意圖	60
圖5.3、 與 互相平行示意圖	60
圖5.4、 與 相交之情況示意圖1	61
圖5.5、 與 相交之情況示意圖2	61
圖5.6、單指座標系配置示意圖	62
圖6.1、三種夾取模式測試圖	66
圖6.2、第三代三指夾爪夾取測試圖	67
圖6.3、末端夾持力測試平台示意圖	68
圖6.4、末端夾持力測試結果圖	68
圖6.5、包覆握力測試圖	69
圖6.6、三指夾爪與機械手臂之機構整合示意圖	70
圖6.7、三指夾爪與機械手臂之系統架構圖	71
圖6.8、機械手臂的人機操作介面示意圖	72
圖6.9、三指夾爪的人機操作介面示意圖	72
圖6.10、影像辨識結果圖	73
圖6.11、揀貨任務示意圖1	74
圖6.12、揀貨任務示意圖2	75

表目錄
表1.1、實驗室歷年所研製的二指夾爪比較表	3
表1.2、國外主要三個三指夾爪之規格表	6
表2.1、三指夾爪之規格比較表	9
表2.2、直流無刷馬達規格	13
表2.3、第二代與第三代馬達驅動電路之晶片比較表	14
表2.4、夾爪控制電路之晶片規格比較	15
表2.5、磁旋轉編碼器比較表	17
表3.1、減速機比較表	39
表4.1、各代馬達驅動電路比較表	48
表4.2、各代夾爪控制電路比較表	51
表4.3、第二代與第三代夾爪控制電路元件比較表	56
表5.1、四種D-H參數及說明表	62
表5.2、單指之連桿參數表	63
表6.1、七軸機械手臂規格表	70
表7.1、本論文所研製之三指夾爪與國外主要3個三指夾爪的規格比較表	78

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