臺灣博碩士論文加值系統

現今有許多的工廠採用線上教導的方式教導機械手臂移動位置點，線上教導是透過人工目測的方式進行快速地編程加工路徑，但此方式只限於簡單的加工路徑，並不適用於複雜的加工路徑，而且此方式也必須讓機械手臂暫時停止生產，將會花費許多的時間造成生產效率下降與人為誤差。為了提升生產效率，透過離線編譯軟體可針對機械手臂用於焊接、運送、拋光、雷射、塗膠與銑削等加工方式編程複雜的路徑，在軟體內模擬加工路徑檢測是否碰撞，能在機械手臂進行生產程序時規劃下一次的加工路徑，以減少機械手臂的停止生產時間。在後處理建構器中可以依照使用者修改函式庫，並可以轉換出各種機械手臂程式碼。本研究先探討機械手臂正向運動學與逆向運動學，以了解機械手臂之作動原理，並自行架設雕刻主軸於六軸機械手臂，再繪製機械手臂與雕刻主軸匯入至SprutCAM離線編程軟體，規劃銑削路徑以及碰撞模擬，並透過後處理建構器新增雕刻主軸之控制命令，將其路徑檔與啟動指令轉換為機械手臂程式碼，且經由FTP通訊或USB方式傳輸至手臂控制器，以完成路徑規劃程序並可開始切削工件。實驗部分分成三種加工方式平面銑削幾何模型、3D銑削幾何模型以及3D銑削曲面模型，並量測與探討工件切削完後之精度尺寸。希望藉由離線編譯軟體取代人工教點方式，並減少人工目測精度所造成的錯誤與省下機器人停機之時間。

Nowadays, many factories use on-line teaching method to teach the moving position of the robot arm. On-line teaching is quickly program the machining path by manual visual observation. But this method is limited to simple machining path and is not suitable for complex machining path. Moreover, this method must also stop the the robot arm temporarily. In order to improve production efficiency, the off-line programming software can program complex paths for welding, transportation, polishing, laser, gluing and milling of the robot arms, and then simulate machining paths in software to detect collisions. In the postprocessor, the function library can be modified according to the user, which can be converted various the robot arm codes. In order to understand the principle of manipulator manipulator, the forward kinematics and inverse kinematics of the manipulator are discussed. In addition, the carving spindle is set up on the six-axis the robot arm, and then the manipulator and the carving spindle are imported into the SprutCAM off-line programming software. SprutCam is used to plan milling path and collision simulation, then the path file and start-up command are converted into the robot arm code by adding postprocessor. The the robot arm code is transmitted to the arm controller via FTP or USB to complete the path planning program and start cutting the workpiece. The experimental part is divided into three kinds of machining methods: plane milling geometry model, 3D milling geometry model and 3D milling surface model. It is hoped that the off-line compiler software will replace the manual teaching method, and reduce the error caused by the manual visual measurement accuracy and save the time of robot shutdown.

摘要....i
Abstract....ii
誌謝....iii
目錄....iv
表目錄....vi
圖目錄....vii
符號說明....ix
第一章 緒論....1
1.1 研究背景與動機....1
1.2 研究目的....2
1.3 論文架構....2
第二章 文獻回顧....3
2.1 機械手臂應用領域....3
2.2 機械手臂路徑編程與後處理....7
第三章 研究架構與方法....11
3.1 研究架構與流程....11
3.2 六軸機械手臂與控制系統介紹....11
3.2.1 M-16iB/20六軸機械手臂介紹....12
3.2.2 R-30iA控制器介紹....13
3.2.3 雕刻主軸介紹....13
3.2.4 雕刻主軸與R-30iA線路配電....14
3.2.5 SprutCAM 離線工法編程軟體....15
3.3 機械手臂運動學推導....16
3.3.1 齊次轉換....17
3.3.2 尤拉角旋轉矩陣....21
3.3.3 正向運動學....22
3.3.4 逆向運動學....28
3.3.5 正向運動學驗證....31
3.4 SprutCAM路徑編程....33
3.4.1 SprutCAM座標系....33
3.4.2 SprutCAM加工路徑編程....34
3.4.3 SprutCAM新增後處理指令....36
第四章 實驗結果....40
4.1 機械手臂前置設定....40
4.2 機械手臂路徑編程實驗....41
4.2.1 平面銑削路徑編程....41
4.2.2 3D幾何模型切削....44
4.2.3 3D曲面切削....48
第五章 結論與未來展望....51
5.1 結論....51
5.2 未來展望....52
參考文獻....53
Extended Abstract....55

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