臺灣博碩士論文加值系統

機械手臂於自動化產業，是一常用的自動化控制單元，常利用於物件搬運、視覺辨識、追蹤系統、檢測/量測場合。
近來年因產業競爭，各大機械製造商紛紛進行成本管控或產品優化以提高其產業競爭力，平面五連桿機構於機構上擁有製造容易及成本低之優勢，在自動控制之搭配下能有不亞於傳統機械手臂之控制效果。
本研究針對平面五連桿機構於位置控制進行分析，並利用PLC系統控制馬達以驗證位置分析之正確性，進而達到能夠取代機械手臂搬運之功能，提升平面五連桿機構於自動化產業之實用性，降低應用成本提高產業競爭力。研究結果顯示，透過理論分析與適當的路徑規劃，平面五連桿機構可達到設定的精確位置，以取代昂貴的多軸機械手臂。

The robotic arm is a commonly used automatic control device in the automation industry, and it is often used in object handling systems, visual identification systems, tracking systems, and inspection/measurement applications.
Recent years, due to industrial competition, major machinery manufacturers have carried out cost control or product optimization to improve their industrial competitiveness. The planar five-bar mechanism has the advantages of easy manufacturing and low cost in the organization. It has the same control effect as a traditional robotic arm.
This study is analyzed in planar five-bar mechanism of position control, and the PLC system is used to control the motors to verify the correctness of the position analysis. In addition, it can replace the function of robot arm transportation, improve the practicality of the planar five-bar mechanism in the automation industry, reduce the application cost and improve the industrial competitiveness. The results of the study confirm that, through theoretical analysis and correct path planning, the planar five-bar mechanism can reach the set precise position, thus replacing the expensive traditional robotic arm.

摘要...................................i
Abstract..............................ii
誌謝.................................iii
目錄..................................iv
表目錄................................vi
圖目錄...............................vii
符號說明...............................x
第一章 緒論............................1
1.1 前言..............................1
1.2 研究動機...........................1
1.3 文獻回顧...........................2
1.4 研究方法...........................3
第二章 平面五連桿機構之運動學............4
2.1 平面五連桿機構之座標定義.............4
2.2 平面五連桿機構之運動空間探討.........4
2.3 死點...............................8
2.3.1死點..............................8
2.3.2死點之應用........................10
2.3.3死點之消除........................10
2.4 平面五連桿機構之逆向運動學..........11
2.4.1餘弦定理..........................11
2.4.2開迴路連桿之逆向運動學.............12
2.4.3平面五連桿機構之逆向運動學.........15
2.4.4平面五連桿機構之動作配置...........17
第三章 平面五連桿機構測試平台之電控設計..19
3.1 電控系統硬體設計...................19
3.2 PLC控制硬體規格介紹................20
3.3 電控系統程式設計...................25
3.4 電子齒輪比........................29
第四章 模擬與實驗結果..................31
4.1 平面五連桿機構測試平...............31
4.2 模擬動作路徑......................33
第五章 結論與未來展望..................47
5.1 結論..............................47
5.2 未來展望..........................47
參考文獻..............................48
Extended Abstract....................50

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