可遞送液體之服務型機器人

可遞送液體之服務型機器人，將液體從容器中倒出，然後把容器、從甲地運送至目的地，本機器人主要架構可以分為感測器、夾爪、水杯穩定器、機械手臂、驅動，感測器主要用於車體的定位，讓車體可以在正確的定位點工作，為了讓夾爪可以夾取圓形、方形的物體，夾爪採用具有順應性的機構，而夾取的物體可能位在不同的地方，因此利用圓柱座標系統的機械手臂來達成，為了避免行走時車體傾斜讓液體從容器中灑出，因此我們設計出水杯穩定器，運用陀螺儀讓水杯中的液面與地面平行，輪子包含兩個橡皮驅動輪兩個萬向輪，而驅動採用後輪驅動。 This study develops an autonomous robot for deliver liquid. The robot can pour the liquid to the container from the bottle. Then transport the container from A to destination. This robot can divide into the sensor element, the gripper, the cup stabilizer, the mechanical arm, the movement. The sensor element mainly uses in the chassis the localization, enables the chassis to be possible in the correct locating point work. In order to make gripper catch round, square objects gripper mechanism has adopted compliance. Then target object might be in different places. Therefore mechanical arm is use the cylindrical coordinate system. In order to avoid spilling of liquid out from the container, we design the cup stabilizer to let the liquid level perpendicular to the ground. Cup stabilizer is use gyroscope to keep in the correct position. Chassis have 4 wheels and Rear-wheel drive. Two rubber wheels and the other are omnidirectional wheel.