臺灣博碩士論文加值系統

本論文針對鏡片組裝自動化線上使用眼在手機械手臂從傾斜的托盤中抓取鏡片物件。機械手臂要自行校準位置，以更準確的處理傾斜托盤中抓取物件之較困難工作。本論文使用手眼相機配置用於從傾斜的托盤中取玻璃，設計了一個攝影機和夾爪組成的夾具，安裝在機械手臂的端接器上，以幫助能從傾斜托盤中準確的抓取玻璃。實驗結果顯示，此開發夾具用於眼在手機械手臂校準位置並抓取鏡片物件，能夠得到足夠的定位精度。其位置準確度 小於 0.293 mm，而方向準確度 小於 0.191 度。

The aim of this study is to pick an object with eye-in-hand robotic arm from the inclined tray for lens assembly automation line. It is much harder for a robotic arm to calibrate positionings on its own while working with tough jobs like picking objects. The eye-in-hand camera configuration is used in this re-search for picking lenses from the inclined tray. A tool design, mounted on the end-effector of robot arm, consisting of a camera along with clamp was developed to help the robotic arm to pick a glass from inclined tray more accurately. Thus, the experimental result indicates developed tool design for automatic picking of an object using a camera along with the clamp to calibrate locations of lenses in better accuracy. The maximum posi-tion error is 0.293 mm and the maximum orientation error is 0.191 degree.

Chinese abstract......i
English abstract......ii
Acknowledgements......iii
Table of content......iv
List of Tables......vi
List of Figures......ix

Chapter 1 Introduction......1
1.1 Motivation......1
1.2 Research background......1
1.3 Research methodology......2
1.4 Research outline......4

Chapter 2 The design of end-effector and clamp......5
2.1 Design of Clamp......6
2.2 Design of camera holder......8
2.3 Wire holder......10
2.4 Assembly of parts......10
2.5 End effector......11

Chapter 3 Experiment for lens assembly automation line......14
3.1 Configuration of experimental assembly setup......14
3.2 The mount of end-effector to robot......15
3.3 Calibration of the locations of lenses......19

Chapter 4 Validation for the robot clamp......22
4.1 Position error and orientation error of the robot clamp......22

Chapter 5 Conclusion......25

References......26

APPENDIX A......27

APPENDIX B......29

Extended abstract......47

3.1 Configuration of experimental assembly setup......14
3.2 The mount of end-effector to robot......15
3.3 Calibration of location......19

Chapter 4 Validation for the robot clamp......22
4.1 Position error and orientation error of the robot clamp......22

Chapter 5 Conclusion......25

References......26

APPENDIX A......27

APPENDIX B......29

Extended abstract......47

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