臺灣博碩士論文加值系統

靜電粉體塗裝之製造程序中，粉體流量與靜電間存在著細微之關連，若流量過大則粉體不易附著，倘靜電過高則潛在危害工作者。當今多數粉體塗裝業者皆採用人工操作，以技術經驗來平衡流量與靜電。但人工操作之粉體掉落量不易掌握，且粉體的乾淨回收率不佳。加上工件造型的多樣性及人工技術不均，使整體製程經濟之無效成本偏高。
本研究中，便將噴塗機構設置於虛擬環境中，先令噴塗路徑依據工件造型計算產生，再使用虛擬噴塗技術，即時量度虛擬粉末之掉落量及附著量，動態調整虛擬噴槍之行進速度與粉體流量。再將模擬完成之移動路徑提供實體噴塗機構之參考使用。然而噴塗路徑亦可在虛擬噴塗機構中以手控式互動裝置依目視直覺產生，若手動路徑通過虛擬機構的粉體效能與工件品質測試，亦可採用為機器手臂之實際工作路徑。

In the process of electrostatic powder painting, powder rate and static are tuned to a fine balance, or the powder may not properly be adsorbed. Therefore, current productions are mostly carried out by human workers to adept the delicacy. However, the amount of unabsorbed powders is skill depending, and the clean recycle rate of the powders is scarce, plus, the shape diversity of the workparts and the hard acquirement of skillful workers, together
have made the production less economic.
This research develops a virtual reality based simulator, in which a virtual counterpart of the painting setup is established and a virtual painting mechanism is built to emulate the spray paint process. The spray gun tool paths are analytically created by the part geometry, and the powder accumulated and unabsorbed rates are digitally calculated along the tool path in the virtual environment to adjust the moving speed and powder discharges. The VR approved tool paths are then be adopted by the production facility. The paths can also be created on-line by intuitive hand operations through visual interaction with a 3D space pointer or haptic device to get realtime approval and skill training.

中文摘要 I
英文摘要 II
致謝 III
目錄 IV
圖目錄 VII
表目錄 VIII
第一章 緒論 1
1.1 研究背景 1
1.2 研究動機 2
1.3 研究目標 3
1.4 研究限制 4
1.5 論文架構 4
第二章 文獻探討 6
2.1 靜電粉體噴塗相關技術 6
2.1.1 靜電噴塗之原理 6
2.1.2 靜電噴塗參數 7
2.1.3 靜電噴塗效能 7
2.2.1 邊界表示法 10
2.2.2 模型分割 11
2.3 電腦輔助製程規劃(CAPP) 11
2.3.1 特徵辨識技術(Feature Recognition) 12
2.3.2 噴塗路徑規劃(Path Planning) 13
2.4 虛擬實境系統 15
2.4.1 虛擬實境之要素 15
2.4.2 虛擬實境之應用 17
2.5 文獻總結 18
第三章 研究方法 21
3.1 研究流程 22
3.2 空間分解法 24
3.2.1 基本單元尺度 25
3.2.2 空間切割 26
3.2.3 工件簡化 27
3.3 靜電噴塗機構之電腦輔助技術 27
3.3.1 拓樸與屬性 28
3.3.2 幾何特徵 30
3.4 虛擬噴槍實境行為模組之設計技術 32
3.5 粉體效能 33
3.5.1 特徵與吸附量 33
3.5.2 工作效能 36
3.6 路徑規劃 37
第四章 實做範例 41
4.1 範例實例說明 41
4.2 模型範例 42
4.2.1 模型之分割 43
4.2.2 模型壓扁拓樸技術 43
4.2.3 特徵定義 44
4.2.5 修改路徑演算法 52
4.2.6 虛擬靜電噴塗模擬 53
第五章 結論與建議 57
5.1 結論 57
5.2 論文貢獻 58
5.3 未來研究 59
參考文獻 60
表目錄
表2.1 靜電噴漆之相關研究 20
表4.1 幾何特徵之應用描述 46
表4.2 未補噴之路徑效能評估 50
表4.3 補噴粉後路徑效能評估 52
表4.4 粉體均勻度 52
圖目錄
圖2.1 靜電吸附範圍等高線圖 [Li et al ., 2005] 8
圖2.2 建構式實體幾何法 9
圖2.3 邊界表示法B-rep模型圖 10
圖2.4 虛擬實境的3I’s要素 15
圖3.1 研究方法流程圖 22
圖3.2 實際噴塗粉量分佈圖 25
圖3.3 間切割過程 27
圖3.4 產生拓樸 28
圖3.5 3D範例 29
圖3.6 3D範例平面展開之子面域 29
圖3.7 3D範例之拓樸示意圖 30
圖3.8 幾何形狀特徵拓樸關係圖 32
圖3.9 虛擬噴槍之示意圖 33
圖3.10 幾何特徵應用 40
圖3.11 特徵比對之噴塗範例 40
圖4.1 模型範例示範工件 42
圖4.2 模型分割圖 43
圖4.3 實驗特徵圖 44
圖4.4 幾何特徵圖 45
圖4.5 路徑演算法流程圖 47
圖4.6 路徑規劃圖 48
圖4.7 路徑程式編譯圖 48
圖4.8 未補噴之粉體吸附水準 49
圖4.9 補噴過之粉體吸附水準 51
圖4.10 Phantom Omni力回饋設備 54
圖4.11 靜電噴漆之虛擬實境模擬 54
圖4.12 噴塗過程之虛擬實境效果 56

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