摘要
題目：利用AI馬達控制機械臂的設計
本研究其主要重點為設計並製造出可實際運用的馬達直接驅動機械臂。此機械臂未來將朝向義肢方面設計，機械臂共有3個自由度，手肘彎曲、手掌旋前和旋後與手腕外展和內收。
首先設計與上肢類似的機械手臂機構，機構的設計重點不但要考慮到手臂的基本功能且結構外形將效仿上肢的結構，亦須使重量降至最低。本文使用輕質量且體積小的AI馬達來驅動手臂關節，共有3個馬達可分別控制各義肢關節，此設計可得到體積不大，重量輕且具手臂基本功能性的上肢義肢。有關義肢的理論分析部分，可依Denavit–Hartenberg法則和修正後的Denavit–Hartenberg法則推導出固定座標和馬達間的座標轉換公式。則在運動分析方面，可推導在已知馬達動作之下，義肢各部位之速度與加速度；在動力分析部分，利用已知的加速度或角加速度數值，可以求得義肢各部分所受的力或力矩。由逆運算理論，也可利用已知的手指位置來反推各個馬達所需轉的角度為何。控制方面，本研究利用RS232傳輸線和RS232控制板控制。首先在PC上利用控制介面，編輯所想要的動作，藉由傳輸線下載至RS232控制板上，再由訊號傳輸線來傳送指令到每個馬達上。
此設計可先經由理論計算，得知馬達之動作，藉由馬達來驅動個關節，設計與人的上肢類似的肢體動作，使達到預定的動作。

Abstract
DESIGN OF UPPER LIMB PROSTHETICS USING AI MOTORS
The purpose of this thesis was to design and build a direct-drive robot of the upper-limb prosthetics using small motors. The prosthetics is an above elbow prosthetics of upper limb. It has three degrees of freedom including the elbow flexion or extension,the palm pronation or supination and the wrist adduction or abduction.
The mechanism of the robot was designed similar to an upper-limb for resembling appearance and performing fundamental functions. Each joint of prosthetics was driven by a light weight and small volume AI motor. There are three motors in the prosthetics that can be controlled separately. Based on the Denavit-Hartenberg rule and a modified Denavit-Hartenberg rule, the coordinate transformation from each moving coordinate system to the fixed coordinate system is derived. When the position of hand was known, the motion of motors can be found. In kinematic analysis, the velocity and acceleration of each part of prosthetics can be calculated. In kinetic analysis, equations of motion can be derived. In the control area, this design utilized RS-232 transmission and RS-232 board to control AI motors. When users sent a desired motion in the control board, the AI motors move to the desired position and the prosthetics performs the correct movement.
The prosthetics can move like an upper limb of human by the design given in the thesis.

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德林義肢康復器材有限公司
強生義肢/復健有限公司
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