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研究生： 林怡靚
Yi-Ching Lin
論文名稱： 擬真臉皮三維製程技術之改善與應用
Improvement of 3D Manufacturing Process for Humanoid Face Skin and its Applications
指導教授： 林其禹
Chyi-Yeu Lin
口試委員: 邱顯堂
Hsien-Tang Chiu
邱士軒
Shih-Hsuan Chiu
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： 2016
畢業學年度： 104
語文別： 英文
論文頁數： 45
中文關鍵詞： 人形機器人 、擬真臉皮 、三維列印技術 、矽膠材料
外文關鍵詞： Artificial facial skin
相關次數： 點閱：188  下載：1 
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    • 隨著機器人技術演進，仿真人形機器人已日趨受注視與需要，許多研究探討具表情變化功能機器人之機構驅動研製，但在擬真臉皮的探討則未有足夠的重視。本文針對仿真人形機器人之矽膠材料臉皮製作進行研究、設計與應用，且運用三維技術改善與簡化傳統模具設計的製程與時間，並使用三維掃描技術以非接觸方式取得人臉樣本。利用三維列印機印製模具、骨骼與其他相關元件，以直觀製作模具取代人臉印模的低時間效率與繁複的翻模過程。本論文提供了三維技術在人形機器人仿真臉皮的開發與應用之細節，研究發現可明顯簡化製作步驟並提升效果。

    The robotics technologies and the humanoid robots have become popular in recent years. While many research works have been focused on mechanism design of the facial expression generation, the investigation in the design and fabrication of the facial skin on a face robot is limited. This thesis aims to develop the techniques of designing, fabricating and implementing the artificial face skin. To simplify the complicated traditional mold manufacturing process, the 3D technology-based method including the use of a 3D scanner and a 3D printer is proposed. The 3D scanning approach can prevent the human model from uncomfortably touching chemical material (alginate) during the mold generation stage. A 3D printing machine is also used to print necessary parts of a face robot with an easy and simple process. This 3D technologies-based approach simplifies the fabrication processes and improves the quality of the face robot.

    中文摘要 I Abstract II Acknowledgments III Contents IV List of Figures VI List of Tables VII Chapter 1 Introduction 1 1.1 Background 1 1.2 Literature Review 2 1.3 Organization 4 Chapter 2 Research Equipment and Materials 5 2.1 Equipment of Experiment 5 2.1.1 3D Scanner 5 2.1.2 3D printer 6 2.1.3 Material of 3D Printer 7 2.1.4 Electronic Weighing Scale 7 2.2 3D Technology 8 2.2.1 G-code 9 2.3 Research Material for Artificial Skin 9 2.3.1 Force Gauge 11 Chapter 3 Methodology for Artificial Face Skin Fabrication 12 3.1 Design of Mold 12 3.1.1 Mold Manufacturing 13 3.1.2 Thickness of Artificial Face Skin 14 3.1.3 Mold Polishing 22 3.2 Face Skin 23 3.3 Supporting Structure of Face Skin 23 3.4 Design of Eye Frame Structure 24 3.5 Eyeballs 28 3.6 The Produce of Making the Artificial Face Skin 32 Chapter 4 Results of Artificial Face Skin Fabrication 33 Chapter 5 Comparison with Existing Humanoid Face Robot 38 Chapter 6 Conclusions 44 6.1 Conclusions 44 6.2 Future Work 44 Reference 45

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