隨著工業4.0和物聯網技術的迅速發展，智慧工廠已經成為製造業轉型的核心，在這一變革中，機器手臂技術的運用已成為企業實現智慧工廠轉型的中心力量，尤其是機器手臂離線編程技術的創新，特別是在虛擬環境中支持的離線編程，使得在不中斷生產流程的情況下，可以進行機器手臂程序的編寫和調整。本研究構建了一條包含兩六軸機器手臂工作站的生產線，用於生產硅藻土杯墊，工作站分別以ABB六軸機器手臂和KUKA六軸機器手臂為基礎，並輔以Robotmaster CAD/CAM離線編程工具協助建置，生產線包括原料成形工作站和曲線表面處理工作站，從原料成形開始，經過澆鑄和脫模兩階段加工，最終由曲線表面處理工作站完成邊角研磨，整個產線的流程控制系統使用C#語言開發，同時將數據實時上傳至MySQL雲端資料庫，通過Node-RED建立的監控網站能夠即時監控PLC的I/O狀態並讀取生產數據。這一案例將離線編程技術建置流程標準化，接著實際整合離線編程技術與自動化技術，實際進行驗證特殊幾何加工，並成功實現使用多台機器手臂串聯成產線，為機器手臂協同作業相關產業提供寶貴的參考和借鑒，作為產業發展的基石。

With the rapid development of Industry 4.0 and IoT technologies, smart factories have become the core of transformation in the manufacturing industry. In this transformation, the application of robotic arm technology has emerged as a central force enabling enterprises to transition to smart factories. Innovations in robotic arm offline programming technology, particularly those supported in virtual environments, allow for the programming and adjustment of robotic arms without interrupting the production process. This study constructed a production line featuring a workstation with two six-axis robotic arms designed to produce diatomite coasters. The workstation incorporates an ABB six-axis robotic arm and a KUKA six-axis robotic arm, supported by the Robotmaster CAD/CAM offline programming tool. The production line includes a raw material forming workstation and a curved surface processing workstation. Starting from raw material form, the process involves casting and demolding stages, culminating in edge grinding at the curved surface processing workstation. The entire process control system for the production line is developed using C#, with real-time data uploaded to a MySQL cloud database. A monitoring website established through Node-RED provides instant monitoring of the PLC's I/O status and real-time access to production data. This case standardizes the process of implementing offline programming technology. Then, it practically integrates offline programming technology with automation technology. Practically verify the machining of special geometries. We have successfully achieved the integration of multiple robotic arms into a production line. Provide valuable references and insights for industries related to collaborative robotic arm operations. As a cornerstone for industry development.

摘要 ............................................................................................................................................. i
Abstract ....................................................................................................................................... ii
誌謝 ........................................................................................................................................... iv
目錄 ............................................................................................................................................ v
表目錄 ..................................................................................................................................... viii
圖目錄 ....................................................................................................................................... ix
第一章 緒論 ............................................................................................................................ 1
1.1 研究動機與目的 ........................................................................................................ 1
1.2 文獻探討 .................................................................................................................... 2
1.2.1 工業4.0 相關文獻 ..................................................................................................... 2
1.2.2 離線編程相關文獻 .................................................................................................... 2
1.2.3 物聯網技術相關文獻 ................................................................................................ 3
1.3 論文架構 .................................................................................................................... 4
第二章 機器手臂離線編程 .................................................................................................... 6
2.1 參數介紹 .................................................................................................................... 7
2.2 CAD 模型建置與導入 ............................................................................................... 9
2.3 參數設定與優化 ...................................................................................................... 10
2.4 路徑規劃 .................................................................................................................. 10
2.5 模擬與除錯 .............................................................................................................. 11
2.6 代碼生成與傳輸 ...................................................................................................... 11
2.7 機器手臂離線編程曲線範例 .................................................................................. 12
2.8 機器手臂離線編程曲面範例 .................................................................................. 16
第三章 原料成型工作站 ...................................................................................................... 20
3.1 工作站系統架構 ...................................................................................................... 20
3.2 工作站硬體架構配置 .............................................................................................. 21
3.3 工作區域介紹 .......................................................................................................... 21
3.4 工作站動作流程 ...................................................................................................... 22
3.5 原料成型工作站離線編程 ...................................................................................... 23
3.5.1 CAD 模型建置與導入 ............................................................................................. 23
3.5.1 參數設定與優化 ...................................................................................................... 25
3.5.2 路徑規劃 .................................................................................................................. 27
3.5.3 模擬與除錯 .............................................................................................................. 29
3.5.4 程式生成與傳輸 ...................................................................................................... 30
第四章 曲線表面處理工作站 .............................................................................................. 32
4.1 工作站系統架構 ...................................................................................................... 32
4.2 工作站硬體架構配置 .............................................................................................. 33
4.3 工作區域介紹 .......................................................................................................... 33
4.4 工作站動作流程 ...................................................................................................... 34
4.5 曲線表面處理工作站離線編程 .............................................................................. 34
4.5.1 CAD 模型建置與導入 ............................................................................................. 35
4.5.2 參數設定與優化 ...................................................................................................... 36
4.5.3 路徑規劃 .................................................................................................................. 37
4.5.4 模擬與除錯 .............................................................................................................. 39
4.5.5 程式生成與傳輸 ...................................................................................................... 40
第五章 通訊整合 .................................................................................................................. 42
5.1 通訊架構 .................................................................................................................. 42
5.2 Modbus 通訊協定 .................................................................................................... 43
5.3 Modbus TCP 通訊方式 ........................................................................................... 44
5.4 Modbus RTU 通訊方式 ........................................................................................... 46
5.5 網頁規劃與設計 ...................................................................................................... 47
5.6 MySQL 資料庫 ........................................................................................................ 48
第六章 實驗結果 .................................................................................................................. 50
6.1 整體產線系統架構 .................................................................................................. 50
6.2 實體產品成果 .......................................................................................................... 51
6.3 整體產線生產流程 .................................................................................................. 51
第七章 結論暨未來展望 ...................................................................................................... 56
7.1 結論 .......................................................................................................................... 56
7.2 未來展望 .................................................................................................................. 56
參考文獻 .................................................................................................................................. 58
附錄一 ...................................................................................................................................... 60
附錄二 ...................................................................................................................................... 61
附錄三 ...................................................................................................................................... 62
附錄四 ...................................................................................................................................... 63
附錄五 ...................................................................................................................................... 64
附錄六 ...................................................................................................................................... 65
Extended Abstract ..................................................................................................................... 66

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