---
# System prepended metadata

title: 七軸手臂規格書

---

# 七軸手臂規格書
[IP Classification](https://www.coolstuffshub.com/ip-rating-guide/)
一些防塵防潑水等等，簡單說就是手臂的外殼封裝要緊密
```
IP54
A product with an IP54 rating is protected against dust ingress sufficient to prevent the product from operating normally but it's not dust tight. The product is fully protected against solid objects and splashing of water from any angle. 
```

[協同作業機器人
國際標準技術重點介紹](https://www.asmag.com.tw/roadshow/download/2017/(%E7%B0%A1%E5%A0%B112)%E5%8D%94%E5%90%8C%E4%BD%9C%E6%A5%AD%E6%A9%9F%E5%99%A8%E4%BA%BA%E5%9C%8B%E9%9A%9B%E6%A8%99%E6%BA%96%E6%8A%80%E8%A1%93%E9%87%8D%E9%BB%9E%E4%BB%8B%E7%B4%B9_%E8%98%87%E6%81%92%E7%AB%8B%E8%99%95%E9%95%B7.pdf)
這一部分涉及到安全性，一般是各關節具有扭矩感測器的手臂才會撰寫這一部分

## 6/17
![](https://i.imgur.com/Se8LONr.png)
![](https://i.imgur.com/Lac5LFl.png)

## 6/18
主要需要討論的功能為1,7,11,12
第1項(外殼)涉及關節極限
第7項(replanning)涉及之後有無辦法進行動態的辨識避障
第11項(手臂支架的穩固性)涉及振動的問題
第12項(電源管理)涉及與資工系電源的整合
![](https://i.imgur.com/P00Ml74.png)
![](https://i.imgur.com/DErAOT0.png)
![](https://i.imgur.com/tRJVs3s.png)


## 6/19

[robotis-dynamixel-CAD](http://www.robotis.com/service/downloadpage.php?ca_id=70)

![](https://i.imgur.com/e4TBblo.png)
FRP54-I110K 惰輪框架組* 2
FRP54-H121K 轉軸框架組
FRP54-H221K 轉軸框架組

FRP42-I110K 惰輪框架組* 2
FRP42-H110K 高轉軸框架組 
FRP42-H120K 轉軸框架組

[Dynamixel Pro Grasping Demonstration](https://www.youtube.com/watch?v=sLvYJW_FD7M)
[2014 Dynamixel Pro](https://www.youtube.com/watch?v=EYCbdemZOsU)
![](https://i.imgur.com/wEn5cMD.png)


[Dynamixel CAD圖](http://en.robotis.com/service/downloadpage.php?ca_id=7030)

![](https://i.imgur.com/BeXwWrv.png)
