本研究之目標係設計和製作三部可以跟人類進行多種互動功能之桌上型多功能伴侶機器人之機構。此智慧型機器人具備雙手臂，ㄧ個攝影機還有兩組驅動的輪子，且透過專用遊戲平台的加入，使機器人可以跟人類進行多種棋類對弈。本論文主要的介紹內容為手臂機構設計。手臂機構設計的基本需要為必須能夠符合多種軟體功能的應用，例如，夾取方塊、杯子、棋子以及堆疊方塊等功能，另外還需要考慮到機器人的負載及重量減輕等問題，減少能量方面的損耗。硬體設計初期以增加可靠度與耐用度為優先，進而導入商品化的設計理念，如簡化自由度數量、完整的外殼設計與機械式順應式機構的使用。本研究在第三代機器人手臂的致動器與機構中安置小型的扭力限制機構。當手臂受到超額外力作用時，該致動器與機構便會產生滑動並讓手臂得以沿受力方向移動，減低致動器受損機率，當該外力移除後，手臂則會自動回到原本位置。此新式順應式機構的可撓幅度不僅大於目前的機械式設計，且完全不影響位置控制的準確度，亦不需要裝設其他感測器，就可以達到良好的保護效果。

The goal of this research is to design and produce the mechanisms of three desktop multifunctional companion robots capable of interaction with people. Each robot has two hands, one CCD camera and two driving wheels. The robot can play various board games with human being on specially designed game boards. This dissertation research is focused on the mechanism design of the robotic arms of these companion robots. The mechanism of robotic arms were designed to fulfill tasks defined by various functions such as gripping character cubes and teacups, playing the Gobang board game, and rotating and stacking character cubes. Further emphasis was placed on load lifting capability, weight reduction, energy conservation, and performance reliability. As a priority, hardware was designed to ensure the reliability and durability. Next, efforts were placed into commercial design concepts, such as reducing the number of degrees of freedom, a complete housing design and the use of mechanical compliance mechanism. In the third generation robot, the research aimed to develop a new design of compliance mechanism in which a small-scale torque-limiting mechanism with a self-locking feature was installed between the actuator and the arm structure so as to minimize the volume while provide an ample torque limit. When the robotic arm is overloaded under an external force, a slide will occur inside the compliance mechanism so that the robotic arm will move along the direction of the external force to avoid damage. The robotic arm will automatically return to its original position after the external force is removed. The new compliance mechanism exceeds most of the current mechanical design in the range of compliance, while maintains the precision and accuracy of the displacement control, without the need of installment of any sensors.

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