頁籤選單縮合
| 題 名 | Counter-Weight Spring Approach in Arm Design of Wheeled Desktop Robot |
|---|---|
| 作 者 | Lin, Chyi-yeu; Tseng, Chang-kuo; Jo, Po-chia; | 書刊名 | 中國工程學刊 |
| 卷 期 | 33:4 2010.06[民99.06] |
| 頁 次 | 頁495-506 |
| 分類號 | 448.94 |
| 關鍵詞 | Robot; Dead load; Arm design; |
| 語 文 | 英文(English) |
| 英文摘要 | Abstract Most of the current designs of the robotic arm have the two arms hanging down perpendicularly. As a result, the weight of the arm (that is the dead load) is borne by the structure of the robot. DOC-2 is a wheeled desktop robot that can play chess against humans. If the arm of DOC-2 is to hang down fully, the length of the arm is dependent on the height of the robot. The range of movement of the arm would be limited, making it very difficult for the robot to play chess with humans. To provide the robot arm with sufficient range of motion, the robot arm is designed in such a way that the upper arm is placed in a perpendicularly downward posture, and the forearm is placed in a horizontally outward posture. This approach can increase the motion range of the arm, but the dead load of the arm creates additional loading to servo motors. Under the condition of continuous operation, the servo motors could be overheated, resulting in burn-out. To solve this problem and to reduce the load of the arm, a counter-weight spring is mounted at each of the elbow and shoulder positions of the robot arm, where the largest torque occurs. After installing the springs the self-generated load on the motors with the arm in the initial position is reduced to almost zero, and the reliability of the robot arm is also substantially improved. |
本系統中英文摘要資訊取自各篇刊載內容。