機器人發展至今因需求不同，已開發出許多類型之機器人，機器手臂所具備的基礎不外乎為速度、精度及工作範圍等性能。本研究欲開發出各軸最高轉動速度可至540°/s且往復精度為±0.05mm特性之機械手臂，並依據其目標性能進行各關節桿件機構之設計，並以關節負載分析方式，選取適合的致動器與減速裝置。再藉由推導出機械手臂運動學與微分運動學方程式，控制機械手臂於空間中位置姿態之移動速度，接著利用軌跡規劃之方式使機械手臂平順於空間中連續移動。另以靜力學方程式得知各關節於固定姿態時，手臂終端接觸外力與各關節輸出扭矩之關係。最後機械手臂已加工組裝完成，並透過位置控制實驗驗證自行開發之機械手臂性能。

As the progress, people have developed numerous types of robots to meet different demands. Nothing more than speed, precision, and the workspace are the main functions we will stress on robots. This paper aims at building up a high-speed and high-precision robot arm. We design joint components basing on the target functions. By estimating the required torque, we choose the suitable motors and harmonic drivers. Deriving the kinematics and differential kinematics formula of the robot to control the robot arm, and change the posture of the robot arm. Then, using tracking plan, we can move robot arm smoothly through the continuous path. By statics, we estimate the torque that each joint driver need to export to maintain the balance state, when the robot arm stays in specific posture. Finally, through position control experiment to prove the functions we design.

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