臺灣博碩士論文加值系統

本文提出以FPGA設計一套基於三球相交算法之線性並聯式機器人(Linear Delta Robot)三軸運動控制系統，並以CNC指令實現物件拆解與組合的加工模式流程進行驗證，且使用現場可程式化邏輯閘陣列(Field Programmable Gate Array, FPGA)實現系統可程式化晶片(System On a Programmable Chip, SOPC)的架構。利用此平台完成運算梯形速度曲線以帶動此系統的步進馬達控制加減速的效果且避免步進馬達失步，並透過正向運動學(Forward Position Kinematics, FPK)、逆向運動學(Inverse Position Kinematics, IPK)與三球相交算法(Three Spheres Intersection Algorithm)來計算出Linear Delta Robot在空間座標移動所需要的參數，可同時對三軸進行移動。並以安裝於掃描式音叉探針作為校正感測端，且加入傾斜度校正以補償。
本文最後以工業上廣泛使用的電腦數值控制工具機(Computer Numerical Control, CNC)運用之標準G-code指令，操控Linear Delta Robot進行物件組合以及拆解的加工模式，以驗證本系統的可行性。

This paper proposes to design a linear Delta robot three-axis motion control based on Three Spheres Intersection Algorithm with FPGA, and verify the object disassembly and combined processing mode flow with CNC instruction, and use Field Programmable Gate Array (FPGA) implements the architecture of System On a Programmable Chip (SOPC). Use this platform to complete the trapezoid velocity profile to drive the stepping motor of this system to control the acceleration and deceleration effect and avoid stepping motor out of step, and pass Forward Position Kinematics (FPK), Inverse Position Kinematics (IPK) and Three Spheres Intersection Algorithm to calculate the parameters required for the movement of the linear Delta robot in space coordinates, and installed on the scanning tuning fork probe as the correction sensing end, and adding the inclination correction To compensate.
At the end of this paper, the standard G-code command used by Computer Numerical Control (CNC), which is widely used in industry, is used to control the Linear Delta Robot for object combination and disassembly processing mode to verify the feasibility of the system.

摘要...i
Abstract...ii
誌謝...iii
目錄...iv
表目錄...vii
圖目錄...viii
第一章緒論...1
1.1 研究動機與目的...1
1.2 文獻回顧...2
1.3 論文架構...3
第二章 系統介紹與運作原理...4
2.1 Linear Delta Robot架構介紹...4
2.2 Linear Delta Robot運動學分析...7
2.2.1 逆向運動學...8
2.2.2 正向運動學...8
2.2.3 三球相交算法...9
2.3 步進馬達驅動...11
2.3.1 梯形速度曲線規劃...13
2.3.2 梯形速度曲線步進脈波產生...13
2.4 平台傾斜度校正...19
2.4.1 音叉探針原理與製作...20
2.4.2 齊次座標 ...23
第三章 系統設計與架構...32
3.1 系統架構 ...32
3.1.1 硬體架構 ...33
3.1.2 軟體架構 ...36
3.1.3 系統流程圖...37
3.2 人機介面設計...40
3.2.1 操控介面...40
3.2.2 操作流程...41
第四章 實驗結果與討論...43
4.1 平台平面校正...43
4.2 實驗結果...49
4.2.1 組合...56
4.2.2 拆解...57
4.3 結果討論...57
第五章 結論與未來展望...58
5.1 結論...58
5.2 未來展望...58
參考文獻...59
Extended Abstract...61

[1] 簡弘彥，“六軸關節型工業機器人發展與實現”，國立勤益科技大學電子工程系碩士論文，2017。
[2] 許弼盛，“I3 3D印表機之零件模組化設計”，崑山科技大學機械工程研究所，2015。
[3] 戴源宏，“並聯式機械臂強健性伺服控制系統之研製”，國立高雄應用科技大學機械與精密工程研究所，2013。
[4] Ridha Kelaiaia, Olivier Company, Abdelouahab Zaatri,“Multiobjective optimization of a linear Delta parallel robot”,Mechanism and Machine Theory 50 (2012),2011,pp. 159-178.
[5] Tzung-Cheng Chen and Yung-Chun Su,“High Performance Algorithm Realization on FPGA for Stepper Motor Controller”,SICE Annual Conference, 2008., pp. 1390-1395
[6] 鐘哲瑋，“多軸機械手臂平台之機構設計與電腦視覺回授控制”，國立海洋大學電機工程學系碩士論文，2013.。
[7] 黃冠鈞，“以LabVIEW對Delta機械臂運動控制之模擬與實現”，國立海洋大學機械與機電工程學系碩士論文，2016。
[8] 孫億菁，“使用旁觸法增進掃描式音叉探針系統的尺寸量測”，國立虎尾科技大學電機工程系碩士班，2017。
[9] HIWIN,“Linear Guideway MGN12H”,
https://www.hiwin.tw/download/tech_doc/gw/Linear_Guideway-(C).pdf.
[10] Robert L. Williams II ,“The Delta Parallel Robot: Kinematics Solutions”,Mechanical Engineering, Ohio University, October 2016.
[11] Oberhauser, Joseph Q.,“Design, Construction, Control, and Analysis of Linear Delta Robot”,2016.
[12] Stepper Motor,“42BYGH47-401A”,
https://media.digikey.com/pdf/Data%20Sheets/Seeed%20Technology/316020003_Web.pdf.
[13] OPENBUILDS PAPTSTORE,“GT2-2M Timing Pulley - 20 Tooth”, https://openbuildspartstore.com/gt2-2m-timing-pulley-20-tooth/.
[14] Texas Instruments,“DRV8825 Stepper Motor Controller IC”,
http://www.ti.com/lit/ds/symlink/drv8825.pdf.
[15] Wang Bangji, Liu Qingxiang, Zhou Lei, Zhang Yanrong, Li Xiangqiang, Zhang Jianqiong,“Velocity Profile Algorithm Realization on FPGA for Stepper Motor Controller”,2011 2nd International Conference on Artificial Intelligence, Management Science and Electronic Commerce (AIMSEC),2011,pp. 6072-6075.
[16] Atmel Corporation,“Linear speed control of stepper motor”,
http://ww1.microchip.com/downloads/en/appnotes/doc8017.pdf.
[17] 李國誠，“設計基於FPGA的視覺伺服系統控制XXY精密對位平台”，國立虎尾科技大學電機工程系碩士班，2015。
[18] Jose I. Quinones,“Applying acceleration and deceleration profiles to bipolar stepper motors”,form Texas Instruments Incorporated, 2012.
[19] 鄒朝富，“運用座標系統擬合於穀堆體積估算之研究”，國立中興大學生物產業機電工程學系碩士論文，2014。
[20] 維基百科，“凡得瓦力”，
https://zh.wikipedia.org/wiki/%E8%8C%83%E5%BE%B7%E5%8D%8E%E5%8A%9B.
[21] 維基百科，“壓電效應”，
https://zh.wikipedia.org/wiki/%E5%A3%93%E9%9B%BB%E6%95%88%E6%87%89.
[22] Dang Ch Cong, Bui Ba Chinh, Hwang Jooho,“Volumetric ErrorModel for Multi-Axis Machine Tools”,43rd Proceedings of the North American Manufacturing Research Institution of SME,2015.
[23] 洪卉萱，“多軸機器手臂之視覺迴授”，國立臺灣海洋大學電機工程學系碩士論文，2016。
[24] Altera,“DE2-115 User Manual”,
https://www.intel.com/content/dam/www/programmable/us/en/portal/dsn/42/doc-us-dsnbk-42-1404062209-de2-115-user-manual.pdf.
[25] Altera,“Quartus II”,
https://www.intel.com/content/dam/www/programmable/us/en/pdfs/literature/hb/qts/archives/quartusii_handbook_archive_131.pdf.
[26] Altera,“Qsys”,
https://www.intel.com/content/dam/www/programmable/us/en/pdfs/literature/tt/tt_qsys_intro.pdf.
[27] ECLIPSE FOUNDATION,“Eclipse”,
https://www.eclipse.org/downloads/packages/installer.
[28] 維基百科，“誤差”，
https://zh.wikipedia.org/wiki/%E8%AF%AF%E5%B7%AE.