| 摘要: | 子計畫四之研究目標在於完成一組穿戴式輔助工具，分為硬體與軟體兩大部分，硬體方面為機構 設計及電路，軟體方面則為控制器演算法之設計與撰寫。 硬體方面，機構部分使用SolidWorks 來建構穿戴式輔助工具之模型，而採用ANSYS 分析各部分 物件受力情況並進行修正且改良，材料部分選用能達到強度高、重量輕的鋁合金，使穿戴式輔助工具 能夠達到輕量且堅固，在骨骼關節間安裝永磁同步馬達，且此馬達驅動搭配無位置感測之技術，用於 輔助施力；電路部分使用DSP 做為控制核心，搭配自行設計之電路板，並以鋰電池作為動力來源，驅 動穿戴式輔助工具。軟體方面，本研究利用Code Composer Studio 撰寫演算法，並採用PI 為控制之主 要架構，主要控制馬達的電流、速度及位置。 此計畫之研究期許能將軟硬體整合，實際進行實驗並根據測試結果進行改良，最終達到實用化、 舒適化、人性化並符合輔助使用者的生活需求。 ;The main research objective of subproject4 is to complete a set of wearable subsidiary tools. This involves two major aspects: Hardware and software. For hardware aspect, main focus will be on mechanical design and circuit structuring. For software aspect, main focus will be on design and composing controller algorithm. The hardware aspect involves different components. For mechanism structuring, SolidWorks will be used to construct the model of these wearable subsidiary tools. ANSYS will be used to analyze the reaction of each individual mechanical part will have when put under different force and pressure, providing directions for correction and improvement. In regards to materials, aluminum alloy, with its known high strength and light weight property, will be used to construct these wearable subsidiary tools. Permanent magnet synchronous motor, collaborating with sensor-less technology, will be installed at the bone and joint area as auxiliary to provide extra force. As for structuring circuit, DSP will be used as centre control and will be combined with our designed circuit board. Lithium battery will be used as central power source to activate and drive these wearable subsidiary tools. As for software aspect, Code Composer Studio will be employed in this research to compose necessary algorithm. In addition, PI will be used to control main structure, the electrical flow of the motor, speed, and position of these wearable subsidiary tools. During research period of this project, a full integration between hardware and software is expected and practical improvements will be made based on actual experiments and testing results. The final goal of this research is to reach a practical, comfortable, and humane subsidiary tools that are in line with the needs of the corresponding users. |
