摘要
擬人機械手的發展初期強調高自由度、全面模擬人類手掌各部位的動作，卻造成了系統過於昂貴且複雜，因此目前大多數應用中的終端受動器均為簡易的夾具型態。近年來擬人機械手的發展在導入非完全致動的概念之後，使得機械手不再以致動器的多寡作為是否具有良好握持性能的準則。
本文中我們針對擬人機械手的設計與機構型式進行探討，並對非完全致動的原理、設計方式與可能發生的問題進行討論；我們所設計之 SYS-1非完全致動擬人機械手其手指以具有和人類手指相似運動關係的非完全致動六連桿所構成，能夠以六個致動器來操作十個自由度，而在非完全致動機構中所會出現的彈離效應在本設計中也受到良好的控制；模組化的設計使各手指均可獨立運作，並依照需求調整其擺設位置，而透過套管-傳動腱系統使機械手本體可於水中或高溫環境下運作不致受損；文中我們也對SYS-1的力量、運動特性以及握持性能進行分析，並與其他具有類似設計的擬人機械手進行比較。

Abstract
In the early days,designer emphasized that human-like robotic hands should have high degree of freedoms(DOFs) and fully simulate all motions of human hands.It makes the system to be too expensive and complex. In recent years, the performance of grasp is no longer depend on the DOFs only after the concept of underactuated is applied.
In this article, we discussed the designs and mechanisms of robotic hands and the design principle of underactuated. The SYS-1 underactuated human-like robotic hand uses only six actuator to control ten DOFs, the fingers of SYS-1 consist of underactuated six-bar linkage that simulate human’s fingers motion. The ejection effect is also well controlled. Every finger is an independent module and can be separate or deploy according to the needs. The conduit-tendon system let SYS-1 can work in the water or high temperature environment without any damage. We also analysis the motion characteristic and grasp performance of SYS-1 and compare to the other similar designs.

目錄
《著作權說明》 2
謝誌 3
目錄 4
圖目錄 6
表目錄 8
摘要 9
一．序論 11
1.1 研究背景與動機 11
1.1-1 人類手掌構造 11
1.1-2 擬人機械手 12
1.1-3 擬人機械手的演進 13
1.2 文獻回顧 16
1.2-1 人工機械手的構造分類 16
1.2-2 新型致動器-EAP、SMA與Air Muscles 20
1.2-3 非完全致動 24
1.2-4 非完全致動機械手簡介 26
1.2-5 應用六連桿設計之機械手 30
二．背景知識 33
2.1 連桿機構設計 33
2.1-1 連桿機構分析-SSL hand、Cassino hand 33
2.1-2 非完全致動四連桿-PHURH 38
2.1-3 非完全致動六連桿 43
2.2 傳動系統 47
2.2-1 腱傳動系統與其誤差 47
2.2-2 纜繩導管系統(cable-conduit system) 49
2.3 手掌握持運動 52
2.3-1 握持型態 52
2.3-2 握持型態與力量分佈 55
2.3-3 彈離效應 57
三．SYS-1非完全致動機械手 61
3.1 機構設計 61
3.1-1 設計目標 61
3.1-2 3B型非完全致動六連桿 66
3.1-3 3B型非完全致動擬人機械手指 72
3.1-4 4A型非完全致動六連桿 77
3.1-5 4A型非完全致動擬人機械手指 83
3.2 傳動系統設計 85
3.2-1 軸心轉盤 85
3.2-2 無滑動(non-slip)傳動腱固定法 90
3.2-3 套管-傳動腱系統 91
3.3 手掌設計 93
3.3-1 拇指基座設計 93
3.3-2 手指的外展與內收設計 95
3.4 其他細部設計 97
3.4-1 彈簧選用 97
3.4-2 手指與手掌表面覆材 99
四．性能分析與比較 101
4.1 SYS-1性能諸元 101
4.1-1 性能諸元比較 102
4.2 手指運動分析 103
4.2-1 人類手指PIP與DIP之運動關係 104
4.2-2 3B與4A型之運動關係曲線-電腦模擬 109
4.2-3 3B與4A型之運動關係曲線-模型實測結果 113
4.2-4 運動分析與比較-SSL hand & Cassino hand 119
4.3 力量分析 122
4.3-1 3B型機械手指 122
4.3-2 4A型機械手指 123
4.4 握持能力測試 124
4.4-1 無覆層握持測試 126
4.4-2 有覆層握持測試 129
4.5 彈離現象檢測 132
五．結論 135
六．參考文獻 138

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