Development and Implement of 6-DOF Articulated Manipulator for Industrial Robot
碩士 === 國立勤益科技大學 === 電子工程系 === 105 === The main purpose of this paper is to develop a set of six-joint robot manipulator. It contains six degrees of freedom and drives the servo motors with a PC. The basic requirements of the robotic arm speed, repeat accuracy, work scope and load weight etc. First,...
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ndltd-TW-105NCIT57750262019-05-16T00:15:12Z http://ndltd.ncl.edu.tw/handle/jxzwt8 Development and Implement of 6-DOF Articulated Manipulator for Industrial Robot 六軸關節型工業機器人發展與實現 Hung-Yen Chien 簡弘彥 碩士 國立勤益科技大學 電子工程系 105 The main purpose of this paper is to develop a set of six-joint robot manipulator. It contains six degrees of freedom and drives the servo motors with a PC. The basic requirements of the robotic arm speed, repeat accuracy, work scope and load weight etc. First, the research describes the architecture design, and introduces the servo circuit for servo motor driving. Second, it presents the derivation of kinematic analysis. The derivation is divided to two parts, the forward and inverse kinematics. The forward kinematics makes the matrices with the positions between the links and the coordinate system of each joint, and then derives each joint angle based on the direction from the coordinate of ground towards this of end. On the other hand, the inverse kinematics derives back the matrices derived by the forward kinematics to verify the known joint angles as well as to catch the attitudes of the robot manipulator. Finally, the attitudes and motion curves of the robot manipulator are controlled completely through the calculations of Matlab and the communications with trajectory of the path movement between the software and hardware. Guo-Shing Huang 黃國興 2017 學位論文 ; thesis 49 zh-TW |
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碩士 === 國立勤益科技大學 === 電子工程系 === 105 === The main purpose of this paper is to develop a set of six-joint robot manipulator. It contains six degrees of freedom and drives the servo motors with a PC. The basic requirements of the robotic arm speed, repeat accuracy, work scope and load weight etc. First, the research describes the architecture design, and introduces the servo circuit for servo motor driving. Second, it presents the derivation of kinematic analysis. The derivation is divided to two parts, the forward and inverse kinematics. The forward kinematics makes the matrices with the positions between the links and the coordinate system of each joint, and then derives each joint angle based on the direction from the coordinate of ground towards this of end. On the other hand, the inverse kinematics derives back the matrices derived by the forward kinematics to verify the known joint angles as well as to catch the attitudes of the robot manipulator. Finally, the attitudes and motion curves of the robot manipulator are controlled completely through the calculations of Matlab and the communications with trajectory of the path movement between the software and hardware.
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author2 |
Guo-Shing Huang |
author_facet |
Guo-Shing Huang Hung-Yen Chien 簡弘彥 |
author |
Hung-Yen Chien 簡弘彥 |
spellingShingle |
Hung-Yen Chien 簡弘彥 Development and Implement of 6-DOF Articulated Manipulator for Industrial Robot |
author_sort |
Hung-Yen Chien |
title |
Development and Implement of 6-DOF Articulated Manipulator for Industrial Robot |
title_short |
Development and Implement of 6-DOF Articulated Manipulator for Industrial Robot |
title_full |
Development and Implement of 6-DOF Articulated Manipulator for Industrial Robot |
title_fullStr |
Development and Implement of 6-DOF Articulated Manipulator for Industrial Robot |
title_full_unstemmed |
Development and Implement of 6-DOF Articulated Manipulator for Industrial Robot |
title_sort |
development and implement of 6-dof articulated manipulator for industrial robot |
publishDate |
2017 |
url |
http://ndltd.ncl.edu.tw/handle/jxzwt8 |
work_keys_str_mv |
AT hungyenchien developmentandimplementof6dofarticulatedmanipulatorforindustrialrobot AT jiǎnhóngyàn developmentandimplementof6dofarticulatedmanipulatorforindustrialrobot AT hungyenchien liùzhóuguānjiéxínggōngyèjīqìrénfāzhǎnyǔshíxiàn AT jiǎnhóngyàn liùzhóuguānjiéxínggōngyèjīqìrénfāzhǎnyǔshíxiàn |
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1719162193689182208 |