本研究旨在協作機器人手引導力量測探討。手動引導為協作機器人特有的操作方式，需操作人員直接用手拉動機器人，因此手引導力是影響協作機器人操作的重要因素。本研究以此為切入點，提出一種手引導力的量測方式並加以驗證。
本研究選定碼垛型協作機器人為研究對象，以手持拉力計引導該協作機器人，在機械臂作業空間範圍內，量測5個平面多個取樣點。經過量測，本研究所選碼垛型協作機器人，手引導力普遍在3N-6N；手引導力低於3N則不易拉動機器人；手引導力變動量大部分在1N以內。
經由實驗結果得出五項結論，第一項為越靠近原點手引導力越小。第二項工作平面越高，手引導力變動量越小。第三項為手引導力變化受黏滑現象影響。第四項為通過手引導力與手引導力變動量，對操作員示警，避免工安意外。第五項為本研究所設計手引導力量測方法可行，可快速鑑定手引導力及手引導力變動量。
The study of investigation on measurement of the hand guiding force for cobots. Hand guiding is characteristic of cobot. cobot is guided by hand, so hand guiding force is important factor of cobot in collaborative operation (ISO/TS 15066). This study proposes a measurement method and investigation of the hand guiding force, and the hand guiding collaborative operation of cobot can be verified.
In this study, the palletizing cobots is used, multidraw in 5 planes within the working space. By measure, the hand guiding force almost between ranging from 3N to 6N, hand guiding force below 3N can be not easy to pull this cobot, hand guiding force variation less than 1N.
Five conclusion can be obtained through the results of multiple experiments, the first project is the closer origin, the hand guiding force smaller. The second project is working plane taller than hand guiding force variation smaller. The third project is the stick-slip can effect hand guiding variation. The fourth project is user can get warning from hand guiding force and hand guiding force variation to avoid incident. The fifth project is the method proposed in this study can be quickly measurement of hand guiding force and hand guiding force variation.
