| Summary: | 碩士 === 國立臺北科技大學 === 機械工程系機電整合碩士班 === 107 === In recent years, the continuous development and promotion of Industry 4.0 has made the industrial model gradually replace labor with automation, and installed various types of sensors to evaluate the current and estimated state of the future machine. Nowadays, the development of robotic arms is becoming more and more mature, and the repeatability is less than 0.01 that used in various precision assembly, welding, simple pick and place task, etc. These industrial robots usually achieve high precision with strong structure and materials, but their weight will increase greatly. It is less suitable for installation on mobile vehicles. The Manipulator of Universal Robots (UR series), which have emerged in recent years, not only have excellent co-operation functions, but also have high payload weight ratio, the motor driver is built inside the joint, and have good collaboration. This UR series is widely used, it's payload usually ranges from 3 to 10kg. This article uses a novel two-stage cycloidal speed reducer to replace harmonic drive, so that it can have higher strength to load more weight, motor part uses shaft fixed external rotation motor (similar to hub motor), its low price and easy to install with new cycloidal reducer, motor with special way to analyze Hall sensor can get high precision feedback, so it can be used with a servo drive.
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