人形模特兒機器人研發｜國立臺灣科技大學博碩士論文系統

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研究生：	簡仁威 Ren-Wei Jian
論文名稱：	人形模特兒機器人研發 Development of Humanoid Model Robot
指導教授：	林其禹 Chyi-Yeu Lin
口試委員:	李維楨 Wei-Chen Lee 劉孟昆 Meng-Kun Liu
學位類別：	碩士 Master
系所名稱：	工程學院 - 機械工程系 Department of Mechanical Engineering
論文出版年：	2015
畢業學年度：	103
語文別：	中文
論文頁數：	59
中文關鍵詞：	機器人、人形機器人、模特兒、雙臂
外文關鍵詞：	Robot, Humanoid robot, Models, Twin arms
相關次數：	點閱：158 下載：10
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本研究研發一台仿真人形雙臂模特兒機器人，透過讓機器人擺出各樣的姿勢動態展示不同的衣飾風格有效地吸引顧客眼光。
人形模特兒機器人的設計概念是以仿人形為出發點，故在上半身各部位尺寸定義乃是透過女性身型長度及比例而得，透過適當的機構傳動方式讓機器人雙臂在做出各樣姿勢的時候能十分平順。機器人姿勢的設定是根據服裝模特兒的衣裝展示動作所編列成的，而為了使機器人能達到相應的動作，我們設計其手臂機構擁有五個自由度，而其雙手的每根手指也各有一個自由度。
機器人的移動平台包含兩個主動輪以及兩個被動輪。此設計能讓機器人方便移動，包括:易於移動到定點、能自由的原地旋轉以配合手部動作展現出不同的姿態等等。

The study is about designing a humanoid robot which can be used inside the clothes windows to show body postures in wearing different kinds of clothes. Based on the style of clothes, we can design different body postures for the robot to display. The dynamic showing capabilities can easily catch customers’ attention to the robot.
The design concept of the humanoid modeling robot is to imitate the human body’s shape, and the dimensions of robot’s upper body are based on a females’ body. In order to achieve a stable display effect for a selected robot’s posture, the mechanical designs and the transmission mechanisms have been carefully studied and designed. The robot’s body posture can be arranged based on the style of the clothes. The modeling robot is equipped with two 5-DOF arms and each hand has 5 single-DOF fingers.
The base of the robot is designed as a moving platform which has two active wheels and two passive wheels. It is easily to move, and free to turn.

摘要I
AbstractII
誌謝III
目錄IV
圖目錄V
表目錄VII
第1章 緒論1
1.1 研究動機與目的1
1.2 文獻回顧3
1.3 論文架構7
第2章 模特兒機器人開發8
2.1 上半身開發9
2.1.1 人體構造探討9
2.1.2 人類手臂關節與機構接頭的對應探討11
2.1.3 規格訂定及驗證13
2.1.4 機構設計20
2.1.5 材料選擇30
2.1.6 負載分析31
2.1.7 致動器選用34
2.1.8 機電系統及控制架構35
2.2 下半身開發40
2.2.1 移動機構40
第3章 實驗及測試43
3.1 自由度測試45
3.2 機器人姿勢設定及測試51
第4章 結論及未來展望55
4.1結論55
4.2未來展望56
參考文獻57

                                

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