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研究生：	朱証裕 Chu, Cheng-Yu
論文名稱：	發展一撓性仿人腕驅動器於親和人機互動 Development of a Compliant Humanoid Wrist Actuator for Human-Friendly Interaction
指導教授：	藍兆杰 Lan, Chao-Chieh
學位類別：	碩士 Master
系所名稱：	工學院 - 機械工程學系 Department of Mechanical Engineering
論文出版年：	2015
畢業學年度：	103
語文別：	中文
論文頁數：	373
中文關鍵詞：	仿人機械臂、腕驅動器、球面並聯機構、撓性元件設計、撓性機構
外文關鍵詞：	humanoid robot arm, wrist actuator, spherical parallel mechanism, compliant component design, compliant mechanism
相關次數：	點閱：90 下載：4
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本文發展一撓性仿人腕驅動器，設計目標除了有外形仿人與兩軸角位移範圍仿人等常見仿人目標，還加上總質量與體積仿人、兩軸角速度與扭矩仿人，以及串聯彈性致動。多項仿人目標使仿人腕驅動器不只能作出近於人類手腕的動作，還能執行負載較高，但仍為人類手腕作得來的工作。
腕驅動器質量仿人時，不會因重量過重，而占去太多的肩與肘驅動器負載。結合勁度已知的撓性元件與位移感測器，可感測腕驅動器的力量與位移；結合位移與力量分析，可控制腕驅動器的姿態與輸出扭矩；串聯撓性元件與致動器，可實現串聯彈性致動，以提供高準度的力量控制，確保腕驅動器與人類互動的親和性。
本設計由三個連桿機構組成，透過兩組含有致動器的撓性機構，將兩方向運動與力量傳遞至兩自由度球面並聯機構，再由球面機構的端效器輸出兩軸角位移與扭矩。連桿機構較容易輕量化；致動器遠離狹小的手腕空間而位於設計空間較大的前臂，故可採用尺寸較大(同時力量也較大)的規格；位於手腕空間的球面機構則因設計空間內無致動器，而可採用較厚實的桿件設計(同時提高強度)。所以本設計可在外形仿人與零件有足夠強度的同時，還能有仿人的輸出扭矩與機構重量，而後兩者為常見的關節驅動器難以同時達成之目標。
本設計不但適合在人類的日常生活環境中，執行人類手腕作得到的工作，或與人類互動。由於本設計額外具有質心位置仿人、轉動慣量與致動形式仿人之特性。因此，本撓性腕驅動器若用於仿人機械臂，其靜態與動態表現也相當接近人類手腕與前臂。
為了瞭解腕驅動器性能，並與人體數據比較、改善或選用較佳的機構設計方案、提供參考於姿態與力量控制，及確保撓性腕驅動器在高負荷下仍有足夠強度。本文對腕驅動器進行位移、速度、力量、撓性元件挫曲、端效器旋轉勁度、接頭力以及桿件應力分析，並加工出數個腕驅動器實體進行實驗與控制，期望本撓性腕驅動器能真正應用於相關領域中。

Base on the common location of actuators, and the requirement of humanoid appearance. In common humanoid robot arms, the output torques of wrist actuator are often much smaller than elbow and shoulder actuator. Compared to human wrist and forearm, the output torques and weight of humanoid wrist actuator are often much smaller and heavier, respectively. Therefore, we attempt to develop a compliant humanoid wrist actuator. Our goals not only contain humanoid appearance and rotational range in pitch (flexion- extension) and yaw (ulnar-radial deviation) direction, which are similar to common humanoid wrist actuators, but also contain humanoid mass, volume, angular velocity and torque in pitch and yaw direction. In addition, to achieve force sensing and to increase human safety, series elastic actuation is also one of our design goals. Therefore, our design can not only perform the high-loaded tasks in human wrist capability, but also improve the safety of interactive object (possibly human) and actuators.
By reviewing the literatures which are related to anthropometry (about wrist and forearm), the wrist actuator of humanoid robot arm and spherical parallel mechanism, we establish various design considerations, and improve or choose the better design from the feasible results. To establish design considerations, design compliant components, compare our design with human body, provide references for position and force control, and verify the strength of our design under the high-loaded tasks. We perform a series of analysis for displacement, velocity, force, compliant structure deflection, rotational stiffness, joint force, and structure stress. Finally, several prototypes of compliant humanoid wrist actuator are built for control and measurement experiments.

摘要	I
英文延伸摘要	III
誌謝	IX
目錄	XI
表目錄	XX
圖目錄	XXVII
符號說明	XXXVII
 第一章 緒論	1
1.1	背景介紹	1
1.2	文獻回顧	2
1.2.1	人體手腕與前臂測量數據	3
1.2.2	仿人機械臂	6
1.2.3	球面並聯機構	9
1.2.4	過去實驗室同學的研究成果	13
1.3	研究動機與目標	15
1.3.1	仿人機械臂與人體數據的比較	15
1.3.2	仿人腕驅動器設計目標	17
1.4	撓性腕機構的設計流程	20
1.5	論文架構	22
 第二章 剛性腕機構設計概念	25
2.1	前言	25
2.2	致動形式選用	25
2.3	球面並聯機構選用	27
2.3.1	球面並聯機構設計考量	27
2.3.2	球面並聯機構篩選	33
2.3.3	運動分析相關定義	34
2.3.4	候選機構位移分析	37
2.3.5	候選機構力量分析	42
2.3.6	候選機構奇異性分析	45
2.3.7	候選機構分析結果比較	47
2.3.8	球面並聯機構選出	60
2.4	致動機構構成	62
2.4.1	致動機構設計考量	63
2.4.2	致動機構的中性姿態構形	64
2.4.3	致動機構選用	65
2.4.4	致動機構運動分析	67
2.4.5	致動機構力量分析	71
2.5	剛性腕機構組成	73
2.5.1	致動器選用	74
2.5.2	腕機構其餘參數決定	76
2.5.3	剛性腕機構相關定義	78
2.5.4	剛性腕機構其餘表現推導	80
2.5.5	剛性腕機構分析結果	83
2.6	本章小結	94
 第三章 撓性元件設計概念	99
3.1	前言	99
3.2	耦桿彈簧的勁度規劃	100
3.3	現成品與設計目標之契合性	104
3.4	耦桿彈簧初步設計	105
3.4.1	分析方法	105
3.4.2	設計區間劃分	111
3.4.3	外形設計考量	113
3.4.4	初步設計成果	114
3.5	靜態結構分析	117
3.5.1	基礎設定	117
3.5.2	分析設定與結果	120
3.6	線性挫曲分析	123
3.6.1	功能簡介	124
3.6.2	線性與非線性理論的差異	125
3.6.3	兩種設計之挫曲分析結果	129
3.7	改善耦桿彈簧的初步設計	130
3.7.1	影響挫曲表現的因素	130
3.7.2	變更耦桿彈簧的入平面方向	133
3.7.3	變更耦桿彈簧的開口方向	137
3.8	撓性耦桿與撓性腕機構之設計	141
3.9	本章小結	142
 第四章 撓性腕機構分析與剛性腕機構驗證	145
4.1	前言	145
4.1.1	剛性腕機構的演變	145
4.1.2	本章流程	147
4.2	撓性與剛性腕機構的表現差異	149
4.2.1	撓性致動機構的運動與力量分析	150
4.2.2	可用來觀察差異的機構性質	154
4.2.3	腕機構分析的相關定義	155
4.2.4	撓性與剛性腕機構的順向位移差異	156
4.2.5	撓性與剛性腕機構的順向力量差異	159
4.3	撓性腕機構的勁度分析	163
4.3.1	勁度分析的動機與應用	164
4.3.2	勁度分析的預先介紹	166
4.3.3	傾俯曲柄的勁度分析	167
4.3.4	偏擺曲柄的勁度分析	175
4.3.5	端效器的傾俯勁度分析(旋轉θp時θy不變)	178
4.3.6	端效器的偏擺勁度分析(旋轉θy時θp不變)	185
4.3.7	端效器的傾俯勁度分析(旋轉θp時θy可動)	192
4.3.8	端效器的偏擺勁度分析(旋轉θy時θp可動)	197
4.3.9	平衡姿態與力量控制分析	199
4.3.10	自然頻率分析	206
4.3.11	勁度分析的定義整理	209
4.4	撓性腕機構的自由邊界分析	212
4.4.1	致動器的自由邊界	213
4.4.2	端效器的自由邊界	214
4.4.3	致動器主動移動的表現	215
4.4.4	端效器被動移動的表現	218
4.4.5	撓性腕機構有無考慮自由邊界的差異	220
4.4.6	自由邊界的其它用途	222
4.5	剛性腕機構的靜力分析	224
4.5.1	平面靜力分析的特性	225
4.5.2	空間靜力分析的要求	227
4.5.3	空間靜力分析的問題與處理方式	230
4.5.4	靜力分析的相關定義	235
4.5.5	靜力分析的結果整理	237
4.5.6	以剛體動力分析來驗證靜力分析的結果	243
4.5.7	靜力分析的解析結果	250
4.5.8	靜力分析與剛性腕機構的零件選用	251
4.6	剛性腕機構的應力分析	252
4.6.1	以插銷與銷孔構成旋轉接頭	252
4.6.2	應力分析的基本設定	253
4.6.3	兩階段應力分析	256
4.6.4	應力分析的結果整理	257
4.7	本章小結	261
 第五章 剛性與撓性腕機構的發展與實驗	267
5.1	前言	267
5.2	腕機構的發展概況	267
5.2.1	設計A的發展概況	267
5.2.2	設計B的發展概況	270
5.2.3	撓性耦桿的發展概況	275
5.2.4	設計D的發展概況	281
5.3	腕機構的相關實驗	285
5.3.1	剛性腕機構的扭矩測量	285
5.3.2	撓性耦桿的勁度測量	291
5.4	本章小結	293
 第六章 結論與未來工作	295
6.1	結論	295
6.2	未來工作	297
6.2.1	進階研究	297
6.2.2	延伸研究	301
參考文獻	307
 附錄A 位移參數軌跡圖與腕機構姿態對照	315
A.1 附錄介紹	315
A.2 與剛性腕機構有關的軌跡圖對照	316
A.3 與撓性腕機構有關的軌跡圖對照	317
A.3.1   撓性傾俯機構	317
A.3.2   撓性偏擺機構	318
 附錄B 剛性腕機構的靜力分析詳細內容	319
B.1 具有靜力平衡條件的副程式	319
B.1.1   桿件靜力平衡	319
B.1.2   接頭靜力平衡-被動旋轉接頭	321
B.1.3   接頭靜力平衡-主動棱柱接頭	323
B.2 桿件靜力平衡所對應的矩陣方程式	323
B.3 接頭靜力平衡所對應的矩陣方程式	329
B.4 設計B與C的力量索引值	332
B.5 設計B與C的假設條件所對應的矩陣方程式	335
B.6 設計B與C的已知條件所對應的矩陣方程式	336
B.7 設計B與C的靜力分析方法	338
B.8 接頭的軸向力、軸向力矩、徑向力與徑向力矩定義	341
B.9 設計B的計算結果	342
B.9.1   Fp = 222 N, Fy = 222 N的計算結果	342
B.9.2   Fp = 222 N, Fy = −222 N的計算結果	343
B.10 設計C的計算結果	344
B.10.1   Fp = 222 N, Fy = 222 N的計算結果	344
B.10.2   Fp = 222 N, Fy = −222 N的計算結果	347
B.11 本章小結	347
 附錄C 剛體動力與靜力分析的差異整理	349
C.1 附錄介紹	349
C.2剛體動力分析的設定條件接近剛體靜力分析	351
C.2.1   設計B在Fp = 222 N, Fy = 222 N的比較結果	351
C.2.2   設計B在Fp = 222 N, Fy = −222 N的比較結果	352
C.2.3   設計C在Fp = 222 N, Fy = 222 N的比較結果	353
C.2.4   設計C在Fp = 222 N, Fy = −222 N的比較結果	354
C.3 剛體動力分析的設定條件接近實際操作	355
C.3.1   設計B在Fp = 222 N, Fy = 222 N的比較結果	355
C.3.2   設計B在Fp = 222 N, Fy = −222 N的比較結果	356
C.3.3   設計C在Fp = 222 N, Fy = 222 N的比較結果	357
C.3.4   設計C在Fp = 222 N, Fy = −222 N的比較結果	358
C.4 本章小結	359
 附錄D 應力分析結果	361
D.1 連接面不可變形、開啟大撓曲選項、連續姿態	361
D.2 連接面可變形、關閉大撓曲選項、五個指定姿態	362
D.3 本章小結	370
自述	371
著作權	373
                                    

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