本研究的目標，為建立一具以纜繩(cable)傳遞動力的低慣量機械手臂，並且將所有馬達都安裝於底座中以實現低慣量的目標。機械手臂在工業實際運用中強調的是高速與再現性，傳統上採用更高規格的馬達與特殊材料減輕其重量。為了與一般機械手臂有相同的運動軸，本研究採用2組不同的纜繩差動傳動機構，並且測試其再現性。
首先依目標性能設計機構，透過有限元素法找出脆弱處及共振頻率，並加強其結構及避免共振。先由運動負載分析找出最大負載來決定馬達規格；接著配合馬達，製作控制系統及挑選韌體；同時考慮可製造性與可組裝性，於定位實驗，評估再現性及理論減速比來檢視設計；最後成功完成低慣性機器手臂的研製。

SUMMERY
In industrial applications of robotic arms, speed and reproducibility are the primary concern. These two goals are typically achieved by using special motors and/or materials to reduce the weight and inertia and are costly. Thus, the purpose of this thesis is to develop a low-inertia robotic arm through power transmission by cables and installing all motors in the base as an alternative.
In order to keep the same motion axis as the general robotic arm, a cable differential transmission mechanism was used in this study. In total, two different application methods were used and the reproducibility of those two methods were tested.
In the design process, the strength and natural frequency of the mechanisms were analyzed by finite element simulations to overcome the weakness for improvement.
With the proper selection of the motors and their controllers according to the maximum pay load of the mechanism, the robotic system was made by 3D printing for its manufacturability and assemblability, Afterwards, the system was tested and its functions were validated by the good reproducibility of executing the desired tasks. Thus, the system demonstrates its functions successfully.

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