雙機械手臂之協同運動

Abstract

為了量測軟性顯示器所能承受的撓曲程度，以及它受到外力作用時產生的應變，本研究發展兩隻關節型機械手臂的協同運動，以當作撓曲平台。本文首先從機械臂的正逆運動學分析(第二章)開始，可得知各馬達轉角和末端操作器(end-effector)相對於基座(base)的相對位置、姿態，使用人機介面進行正逆運動學之計算，接著定義機械臂所在空間中座標位置和工件座標位置，設計規劃主動機械臂在空間中的運動軌跡(第三章)，然後利用空間對稱點得到從動機械臂的軌跡，電腦模擬主從手臂軌跡，最後進行實驗，將雙機械手臂夾持軟性電子顯示器的高分子基板，使用C語言控制機器手臂(第四章)實現模擬的主從手臂軌跡，進行顯示器的彎曲和扭轉。

In order to measure deflection degree and strain distribution of flexible display subject to external force, this study develops cooperative motion of two robot arms that serve as platform of flexible display. This study first investigates robotic arm using forward kinematics and inverse kinematics in Chapter 2. We obtain some data which motor turn angler and end-effector respects to base frame of position and configuration. Second, Chapter 3 defines robotic arm coordinate and object coordinate in the space, then plans master arm of trajectory in the space. 101 symmetric points are employed in the space to obtain the trajectory of the slave arm. Computer simulates master-slave arms of trajectory using Matlab programming. Finally, Chapter 4 presents expermental results dealing with flexible display of polymer substrate. C language codes are used to control robot motion that follows trajectories of master-slave arms in Chapter 3. Bending and twist of flexible display are carried out in experiments.