為因應未來社會人力資源的缺稀以及日趨增多的客製化訂單需求，日後的生產模式必定會從現行工廠生產流水線轉型為可彈性調變的智慧產線，這也是德國提出之工業4.0概念之根本因素。在此概念下工廠任何一個環節都必須要有高度的彈性與智慧化，不論是從客戶接單、產線分配、物料傳遞還是成品收送，皆須包含有非常大的彈性可以做立即變更，而在此項革新的概念驅動下，智慧機械的開發也逐漸被重視起。現今智慧機械的發展除了著重在彈性可調變的控制系統外，產線硬體設備的全能化也是這波革新的重點項目，因此機械手臂的末端效應器開發扮演著舉足輕重的角色，為此本研究希望開發出一套用於輔助傳統機械手臂轉型之自適應夾爪模組，其目標為提升傳統機械手臂之全面性來應付高彈性變化的產線結構。
目前常見應用於工業產線上之末端效應器皆為限制較大的單一自由度夾爪或是負壓吸盤夾持裝置。單一自由度夾爪透過爪片開合動作來抓取物件，然此夾爪僅適用於形狀規則的物件或是特別訂製夾治具來抓取物體；而吸盤式的負壓裝置雖然可以廣泛的拾起各種物件，但也僅適用於表面平滑且質輕的物件。為了提供更彈性的夾持形狀以及更大的夾持力量，本研究擬開發一套連桿結構萬用夾爪，其透過單一驅動元之多重自由度的自適應連桿結構來隨物體表面樣貌進行包覆抓取，並結合其本身硬式結構的特點來提供足夠強度之抓持力道，進而提升傳統機械手臂之使用彈性以及泛用性。

Due to the shortage of labor force and growing demand of customized orders, factory production lines will be transformed to become smarter and more flexible. This is the concept of Industry 4.0 proposed by Germany. In this scope, factories must be highly flexible and intelligent in every manufacturing process. Under this concept of Industry 4.0, it can make quick modifications in area such as processing flows, production lines, material supply, and product delivery. Driven by this innovative concept, development of intelligent machines has gradually become an important issue.
In addition to focusing on the developing of flexible intelligent processing control system, hardware equipment in the production line is also a key in industry innovation. Therefore, development of end effecters for robotic arms plays a pivotal role in this innovative concept. The aim of this study is to design and develop an adaptive gripper module to upgrade conventional robotic arms through mechatronic integration. Its goal is to transform the function of universal grasper on traditional robotic arms in order to cope with the high demands of flexible production line.
The gripper used in production line is either parallel gripper with single degree of freedom or vacuum gripper. First, parallel gripper uses customized fixture to hold an object with a single degree of freedom. Second, vacuum gripper can only pick up objects with smooth surface and light in weight. In order to provide more flexibility and more grasping strength in gripping, an adaptive gripper with linkage structure was developed.

第一章 緒論 1
1.1 簡介 1
1.2 文獻回顧 1
1.3 研究方法 9
第二章 理論背景 10
2.1 前言 10
2.2 向量迴路法 10
2.3 座標轉換理論 13
2.4 章節結論 15
第三章 適應性夾爪機構設計與分析 17
3.1 前言 17
3.2 夾指設計背景 17
3.3 夾指模型 22
3.4 夾指自由度分析結果 27
3.4-1 單組四連桿角度對應 27
3.4-2 雙組四連桿角度對應 28
3.4-3 三組四連桿角度對應 29
3.4-4 爪指尖端位置分析 30
3.5 夾指實驗結果 31
3.6 夾爪構型運動缺陷 40
3.7章節結論 41
第四章 具捏取功能夾指機構設計 42
4.1 前言 42
4.2 夾爪設計背景 42
4.3 夾指模型 43
4.4 夾指自由度分析結果 48
4.4-1 單組四連桿角度對應 48
4.4-2 雙組四連桿角度對應 49
4.4-3 三組四連桿角度對應 50
4.4-4 爪指尖端位置分析 51
4.5 夾指實驗結果 52
4.6 改善項目驗證 61
4.7 章節結論 62
第五章 驅動載台架設 63
5.1 前言 63
5.2 驅動方式分析 63
5.3 零件選用分析 66
5.4 機構整體組合分析 74
5.5 驅動機構表現與結果 74
第六章 電控架設 77
6.1 前言 77
6.2 控制流程 77
6.3 控式系統設計 80
6.4 電路板布局 87
6.5 電控表現與結語 90
第七章 結論與未來工作 91
7.1總結 91
7.2 本文貢獻 91
7.3 未來展望 93

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