市面上已有多種可抓取多種不同幾何物件而設計的自適應通用型夾爪。自適應功能係透過機構的不同構形彈性對不同的幾何形狀表面進行適應配合，通用型則是指以單一個夾爪即可對多種物件進行抓持，有別於工業上使用之專用定型夾爪。本論文採用三指夾爪設計，目的是為了能夠更有效率抓取不同形狀的物件，透過創新機構設計改善現有商業夾爪的缺點，如基座尺寸過大或手指不同步等問題，並提供可依使用者需求進行改裝的擴充性功能。近年新興的工業智慧自動化，許多視覺系統配合機械手臂與夾爪進行整合性智慧應用。為減低自行建構視覺系統的複雜度和執行相機與手臂系統間校正的難度，本研究在三指夾爪內建構一套視覺系統，包含相機與線雷射，可提供三指機械夾爪內建多種視覺智慧自動化功能應用。一系列實驗測試已證明此具內建視覺模組三指夾爪的適用度和應用潛力。

The universal adaptive grippers are designed for various tasks nowadays. Adaptive grippers mean the finger mechanism of the gripper is capable of adjusting itself fitting with the object surface. Universal grippers mean the gripper can hold on objects of different geometries compared to the solid claws gripper which focuses on grasping an object of a fixed shape in industrial applications. This research aims to develop an adaptive universal gripper design for efficient grasping multiple objects of varied shapes. We also focus on some drawback improvements on commercial grippers and add scalable function for our gripper. In last few years, the vision systems have been integrated with the robotic arms and grippers more often in intelligent automation applications. A gripper with an embedded vision module will remove the needs of installing the vision system and conducting the complex calibration procedure with robotic arms. Due to these reasons, we also built an embedded vision module including a camera and a line laser to the gripper to provide an efficient tool for intelligent automation. A series of tests have been conducted and the results proved that the gripper with the embedded vision module has potential adaptive applications.

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