6-Axis Cable Driven Robot Armfor Fruit HarvestingMechanical Designand Motion Simulation

• Main Authors: Huan-Yu Hsieh, 謝環宇
• Other Authors: Ping-Lang Yen
• Format: Others
• Language: zh-TW
• Published: 2014
• Online Access: http://ndltd.ncl.edu.tw/handle/29736496115398641917

碩士 === 國立臺灣大學 === 生物產業機電工程學研究所 === 102 === Today, the robot have developed very fast, and numerous types of robots to solve different tasks. A manipulator play the important role of this area, lots of people on the production line in factory replaced by manipulators. This thesis aims at designing a manipulator which driven by the cables, use the gripper to reach and grip the target in the plant factory or in the field. Light, small, lower power consume are this manipulator design guidelines. According to the mechanism design and kinematics, simulate the working space. Also using the cubic spline and the velocity planning to plan the path so the manipulator can move smoothly and avoid the obstacle in the Cartesian space. Finally, combine the statics and dynamics results to estimate the torque that each joints driver need to export to maintain the whole system. Use the spring to countervail the torque which produce by gravity, so that the energy can be reduced.