Design and Improvement of Double Robot Arms on Mechanism

• Main Authors: LAI,KUAN-JEN, 賴冠仁
• Other Authors: TU, KUO-YANG
• Format: Others
• Language: zh-TW
• Published: 2017
• Online Access: http://ndltd.ncl.edu.tw/handle/70907246561576035609

碩士 === 國立高雄第一科技大學 === 電機工程研究所碩士班 === 105 === In this thesis, via simulation and calculation a robot arm mechanism of high degree of freedom, high ration of torque and weight, and high precision is designed. By Computer Auxiliary Design (CAD), all mechanical components of designed robot arm are analyzed. Based on the actual size of all mechanical components, the motor torque and joint payload are calculated to simulate the stress force on components so that the weak parts of robot arm can be revealed for improving and then for better mechanical design. In addition, the robot arm components of stronger stress force are cut to reduce weight for light payload. Safety coefficient planning is engaged to define the strength of all robot arm components for bearing larger payload. The reason to choose motors and gears is also included. In this research, the theoretical performance of designed robot arm is studied.