Study of Designing Mechanism of Six Axis Robotic Arm

• Main Authors: Shieh, Wen-Sheng, 謝文聖
• Other Authors: Chou, Huann-Ming
• Format: Others
• Language: zh-TW
• Published: 2018
• Online Access: http://ndltd.ncl.edu.tw/handle/4sbpjz

碩士 === 崑山科技大學 === 機械工程研究所 === 106 === In the modern intelligent automation industry and the German industrial 4.0 technology development, multi-axis robotic arms are no longer strange words. Three-axis arm, four-axis arm, six-axis arm and other mechanical arm in a variety of industrial and livelihood areas have rapid development and application. Especially the six-axis robotic arm, because of its faster, more accurate, more weight and other advantages, the range of industrial applications is more extensive. In addition, although some industries need six-axis robotic arm assist to finish the production operations. However, some technical specifications such as high speed, high precision and high strength are often not required. Therefore, the robotic Arm mechanism design can be simplified, and reduce the cost of structures. That will achieve the six-axis robotic arm with low-cost and high efficient. This study mainly researches the structure design of six-axis robot using the harmonic reducer and servo motor, and how to design the robot with other dynamic components. Based on the required torque and torsion force of the different position for six-axis robotic arm, that will be as a mechanical arm structure design goals for the different speed, strength and precision which are produced under the joint structure of axis. Finally, the mechanism design of six-axis robotic arm was applied to the real robotic arm and produced the parts of robotic arm and assembles in this study. And then the robotic arm proceed practical operation test and verify. The results of this study will provide relevant industries as reference and applications.