隨著工業發展的趨勢，機械手臂扮演著不可或缺的角色，傳統機械手臂結合鋼性夾爪，時常造成物件的表面產生刮傷或夾傷等狀況發生，為改善此問題，本研究研發出一款使用拉線驅動的PDMS柔性夾爪，使用PDMS矽膠做為仿生手指的肌肉，內部嵌埋3D列印長方形骨架增強整體結構強度及固定拉線驅動位置，柔性夾爪可以適應各式形狀做夾取，並且不會傷害夾取物件。
參考應用於機械手臂的六自由度ＤＨ參數表，本研究共設計三款柔性機構，分別為：彎曲、彈簧、扭轉，藉由彎曲手指結合影像辨識技術發展出柔性DH參數表，並求得柔性DH參數表的順向運動學，再藉由順向運動學計算出夾爪從原點到末端座標位置，由影像量測檢測，得出實際末端座標點位置與接近計算相符。彈簧及扭轉形狀柔性機構已研發出來，並透過推導角度及長度之數據，使柔性ＤＨ參數表更加完善呈現。

Due to the trend of industrial development, the robotic arm becomes more and more irreplaceable. The traditional robotic arm combined with the steel jaws often causes scratches or pinching on the surface of the object. To improve this problem, this research has developed a soft jaw with PDMS and driven it by a pull wire. Using PDMS silicone as the muscle of the bionic finger and embedding the rectangular frames which were made by 3D printing to enhance the overall structural strength and fix pull wire drive position, the soft jaw can adapt to grip various shapes objects without damaged them.
Referring to the six-degree-of-freedom DH parameter table applied to the robotic arm, three soft mechanisms (bending, spring, and twist) were designed in this study. The soft DH parameter table was developed by bending the finger combined with image recognition technology and the forward kinematics of the DH parameter table was obtained. The experiment result shows that the position from the origin to the end point coordinate calculated by forward kinematics was closed to real position measured by image recognition technology. The spring and torsion shaped soft mechanisms has been developed at this study, and the soft DH parameter table has been more completely presented by calculating the angle and length data.

[1] 台灣氣立股份有限公司氣動夾爪產品. Available: http://www.chelic.com/website/tw/GR-series.html
[2] TOYO公司電動夾爪產品. Available: http://www.toyorobot.com/products/product_view_tw/108
[3] 孙自力, "具有柔性的抓取机构," 组合机床与自动化加工技术, no. 3, p. 10, 1987.
[4] 徐淼鑫, 李小宁, and 郭钟华, "新型柔性夹持装置软体手指的数学模型研究," 机械制造与自动化, vol. 45, no. 5, pp. 99-102, 2016.
[5] 彭瀚旻, 李华峰, 惠耀, 丁庆军, and 赵淳生, "应用人工肌肉 IPMC 材料的三指微型柔性手爪设计," 振動. 測試與診斷, vol. 30, no. 4, pp. 347-352, 2010.
[6] 劉至行, "自適性撓性夾爪系統之設計分析與試作驗證 (II)," 國立成功大學機械工程學系: 科技部,2016.
[7] 劉至行, "智慧型自適性撓性夾爪模組開發與系統整合 (I)," 國立成功大學機械工程學系: 科技部,2017.
[8] 馮國華, "應用於軟性機器人之多功能電活性聚合物傳感器之研發," 國立中正大學機械工程學系: 科技部,2015.
[9] 蘇國和, "以類神經網路為基礎之仿生夾爪設計及其在寵物機器人之應用," 中國文化大學機械工程學系數位機電碩士班: 科技部,2016.
[10] Wikimedia Commons Polydimethylsiloxane 化學鍵. Available: https://commons.wikimedia.org/wiki/File:Silicone-3D-vdW.png?uselang=zh-tw#filehistory
[11] M. Wehner et al., "An integrated design and fabrication strategy for entirely soft, autonomous robots," Nature, vol. 536, no. 7617, pp. 451-5, Aug 25 2016.
[12] D. Rus and M. T. Tolley, "Design, fabrication and control of soft robots," Nature, vol. 521, p. 467, 2015.
[13] S. Bhattacharya, B. Bepari, and S. Bhaumik, "Soft robotic finger fabrication with PDMS and IPMC actuator for gripping," in 2016 SAI Computing Conference (SAI), 2016, pp. 403-408.
[14] J. H. Kim, Z. Y. Li, H. R. Choi, H. Moon, and J. C. Koo, "Design of flexible joint using in soft robot hand," in 2016 13th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI), 2016, pp. 101-103.
[15] 喬越實體股份有限公司. DOWSIL™ 184 A-B ELASTOMER KIT,19.9KG-KIT 10:1產品介紹. Available: https://www.silmore.com.tw/tc/0100100080.html
[16] 科研市集Dow Corning® SYLGARD PDMS 184 矽橡膠. Available: https://www.sciket.com/product/group/3108?keyword=PDMS&priceMin=&priceMax=&vendor=&brand=&category=&leadTime=&withPriceFlag=
[17] 見誠科技有限公司,JOV-30真空烘箱. Available: http://www.kkk.com.tw/product_detail.asp?pro_ser=6035
[18] P. T. Lin, "Measuring the Bonding Strength of Polydimethylsiloxane (PDMS)-to-PDMS by Blister Test," Rutgers University, 2007.
[19] Flashforge Creator 3 - Dual Extruder Idex System. Available: https://www.3dprima.com/3d-printers/all-3d-printers/flashforge-creator-3-dual-extruder-idex-system/a-24019/
[20] B. S. Homberg, R. K. Katzschmann, M. R. Dogar, and D. Rus, "Haptic identification of objects using a modular soft robotic gripper," in 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2015, pp. 1698-1705.
[21] P. T. Lin, E. Shahabi, K.-A. Yang, Y.-T. Yao, and C.-H. Kuo, "Parametrically Modeled DH Table for Soft Robot Kinematics: Case Study for A Soft Gripper," The 15th IFToMM World Congress, Paper Number 453, Krakow, Poland, 2019.
[22] J. Aldrich, "Doing least squares: perspectives from Gauss and Yule," International Statistical Review, vol. 66, no. 1, pp. 61-81, 1998.