臺灣博碩士論文加值系統

機械手臂應用領域廣泛，於工業中已有舉足輕重之地位，例如於加工製造產業中可執行點到點夾取、物流搬運、裝配，或是進行研磨、噴塗、拋光、銑削等多點位路徑加工。在高精度複合曲面加工中是無法使用點到點教導式路徑編程，大多採用專用式CAD/CAM軟體進行路徑編程，進而以後處理方式轉出相對應之機械手臂數控程式。由於機械手臂開發商眾多，為避免各家專利規範，所開發之控制器也有所不同，在數控程式中語法也大相逕庭，如尤拉角、手臂座標系、各關節軸旋轉方向定義都有所差異。
由於機械手臂構型之相異，各廠所開發之機械手臂優缺點也不同，難以一家獨大。現今複雜之曲面加工路徑主要使用商用路徑編程軟體，以專用後處理之方式輸出數控程式，在異廠間格式難以互換使用，且要請軟體商新建置不同構型後處理通常價格高昂，若企業需要添購新的機械手臂則需額外負擔後處理建置費用，提高開發成本。
為降低後處理建置費用，使機械手臂數控程式擁有可互換性，故本研究將不同之機械手臂數控程式(KUKA、HIWIN、FANUC)，讀取其運行模式、座標點位、刀具與基底座標位置。透過六軸機械手臂運動學計算出法蘭中心點相對於基底座標之數據，更改機械手臂構型，再以新構型手臂運動學計算出轉換構型後各關節軸數值。經由比對兩機械手臂其終端運行位置與手臂姿態是否一致，最後轉換出對應之機械手臂數控程式，達成數控程式之可互換性。
本研究以Visual Studio C#做為開發介面，建置控制元件按鈕、輸入窗格等，讀取數控程式，判斷其位置資訊與手臂姿態，導入六軸機械手臂運動學，對轉換手臂選解定義。其次以STL圖檔結合OpenGL做視覺化模擬介面，並輸出對應機械手臂之數控程式來完成不同構型數控程式互換介面。最後本文將轉換後數控程式導入機械手臂驗證軟體(HRSS、ROBOGUIDE)，進行驗證及實際上機運行確保其轉換正確性。

Mechanical arms have a wide range of applications and play a significant role in the industrial field, such as point-to-point grasping, logistics transportation, assembly, as well as multi-point point path processes like grinding, spraying, polishing, milling. In high-precision complex surface processing, point-to-point teaching-based path programming cannot be used. Most of them use dedicated CAD/CAM software for path programming, and then output the corresponding CNC program through post-processing. Due to the large number of mechanical arm developers and to avoid conflicting patents, the controllers and CNC program syntax developed by each company are different, such as Euler angles, robot coordinate systems, and the definitions of rotation directions for each joint.
Each manufacturer’s developed robotic arms have different advantages and disadvantages because of the diverse configurations of mechanical arms, making it difficult for a single manufacturer to dominate the market. Today, complex surface processing paths mainly use commercial path programming software to output CNC programs in a dedicated post-processing way. The format is difficult to use interchangeably between different factories, and it is usually expensive to ask software companies to create new post-processing for different configurations. If a company needs to purchase a new mechanical arm, it needs to bear the additional cost of post-processing construction, which increases the development cost.
To reduce the cost of post-processing construction and make CNC programs for mechanical arms interchangeable, this study will read different CNC programs for mechanical arms (KUKA, HIWIN, FANUC), including their operating mode, coordinate points, tool and base coordinate positions. The data of the flange center point relative to the base coordinate is calculated through the six-axis mechanical arm kinematics. By modifying the robotic arm configuration, the kinematics of the new configuration are calculated to derive the values of the joint axes after the configuration change. The end effector’s position and arm posture of the two mechanical arms are compared to determine whether they are consistent. Finally, the corresponding CNC program for the mechanical arm is converted to achieve the interchangeability of the CNC program.
This study uses Visual Studio C# as the development interface, builds control elements, buttons, input windows, etc., reads the CNC program, judges its position information and arm posture, introduces the six-axis mechanical arm kinematics, and defines the solution for the conversion arm. Additionally, it utilizes STL file combined with OpenGL for visualization and simulation interfaces, and outputs the corresponding robotic arm CNC program to achieve interchangeability between different configurations. Finally, the converted CNC program is imported into the mechanical arm verification software (HRSS, ROBOGUIDE) for validation and actual machine operation to ensure the correctness of the transformation.

摘要...i
Abstract...ii
誌謝...iv
目錄...v
表目錄...viii
圖目錄...x
符號說明...xiii
名詞中英對照表...xiv
第一章 緒論...1
1.1 前言...1
1.2 研究動機與目的...1
1.3 文獻回顧...2
1.3.1 機械手臂運動學...2
1.3.2 數控程式與構型轉換概念...4
1.4 研究方法與步驟...6
1.5 論文架構...8
第二章 相關技術...9
2.1 基本座標轉換矩陣...9
2.2 D-H座標轉換法...12
2.3 尤拉角...15
2.4 OpenGL介紹...16
2.5 開發軟體及驗證軟體...17
2.5.1 Visual Studio 2022 C#...17
2.5.2 hyperCAD-S 2022.2...18
2.5.3 Wolfram Mathematica 10...19
2.5.4 SprutCAM 10...19
2.5.5 HRSS(HIWIN ROBOT SYSTEM SOFTWARE )...20
2.5.6 ROBOGUIDE...21
第三章 機械手臂相關理論介紹...22
3.1 數控程式格式介紹...22
3.1.1 KUKA...22
3.1.2 HIWIN...25
3.1.3 FANUC...26
3.2 機械手臂基本介紹...27
3.2.1 正向運動學...28
3.2.2 逆向運動學...28
3.3 刀具相對於法蘭座標系轉換矩陣...28
3.4 機械手臂姿態定義...29
3.5 機械手臂運行模式與座標介紹...31
3.5.1 BASE模式...31
3.5.2 TCP模式...32
第四章 程式介面介紹與驗證...33
4.1 機械手臂數控程式轉換介面介紹...33
4.2 數控程式輸入介面...34
4.2.1 工件座標、刀具座標、路徑解析...35
4.2.2 路徑相對於基底座標推導...39
4.3 輸入手臂與輸出手臂設定介面...40
4.4 運動學轉換介面...42
4.4.1 尤拉角正逆向驗證...43
4.4.2 正逆向運動學驗證...44
4.5 路徑模擬介面...57
4.5.1 手持刀具路徑模擬驗證...58
4.5.2 手持工件路徑模擬驗證...62
4.6 數控程式轉換介面...66
4.6.1 HIWIN格式...67
4.6.2 FANUC格式...69
4.6.3 SRC&DAT格式...70
第五章 結果與討論...71
5.1 數控程式...71
5.1.1 KUKA、HIWIN、FANUC相互轉換...71
5.1.2 KUKA單SRC轉SRC與DAT形式...76
5.2 姿態轉換...77
5.3 轉換流程...78
5.3.1 檔案讀取...78
5.3.2 機械手臂設定...79
5.3.3 格式轉換輸出設定...81
5.3.4 SRC與DAT形式轉換...91
5.4 機械手臂路徑模擬...94
5.4.1 構型轉換模擬...94
5.4.2 具外部軸旋轉模擬...96
5.5 商用軟體模擬...97
5.5.1 HRSS...97
5.5.2 ROBOGUIDE...100
5.6 實機模擬...102
5.6.1 構型轉換實際上機...102
5.6.2 具外部軸旋轉SRC與DAT檔實際上機...105
第六章 結論與未來展望...108
6.1 結論...108
6.2 未來展望...109
參考文獻...110
Extended Abstract...112

[1] KUKA，https://www.kuka.com/zh-tw. (2023.05/16)
[2] FANUC，https://www.fanuc.com/. (2023.05/16)
[3] YASKAWA，https://www.yaskawa.com.tw/. (2023.05/16)
[4] KAWASAKI，https://kawasakirobotics.com/asia-oceania/. (2023.05/16)
[5] Mitsubishi Electric，https://www.mitsubishielectric.com/fa/. (2023.05/16)
[6] ABB，https://global.abb/group/en. (2023.05/16)
[7] Staubli，https://www.staubli.com/tw/en/corp.html. (2023.05/16)
[8] 上銀科技，https://www.hiwin.tw/. (2023.05/16)
[9] 聯達智能，https://www.leantec.com.tw/zh_tw#1. (2023.05/16)
[10] 勤堃機械股份有限公司，http://www.evermore-tools.com.tw/c_company.htm. (2023.05/16)
[11] 鴻海科技集團，https://www.foxconn.com/zh-tw/. (2023.05/16)
[12] 工業技術研究院，https://www.itri.org.tw/. (2023.05/16)
[13] 滙信科技，https://www.wesix.com.tw/portfolio-item/nx-cam-%e6%a9%9f%e6%a2%b0%e6%89%8b%e8%87%82%e5%8a%a0%e5%b7%a5%e7%b7%a8%e7%a8%8b/. (2023.05/16)
[14] Jacques Denavit, and Richard S Hartenberg, 1955, “A Kinematic Notation for Lower-pair Mechanisms Based on Matrices”, ASME J. Appl. Mech., Vol. 22, No. 2, pp. 215-221.
[15] Songguo Liu, and Shiqiang Zhu, 2007, “An Optimized Real Time Algorithm for the Inverse Kinematics of General 6R Robots”, 2007 IEEE International Conference on Control and Automation, pp. 2080-2084., Guangzhou, China, 30 May.
[16] Ahmed Joubair, and Ilian A. Bonev, 2015, “Non-kinematic Calibration of a Six-axis Serial Robot Using Planar Constraints”, Precision Engineering, Vol. 40, No. 5, pp. 325-333.
[17] Chiyen Kim, David Espalin, Alejandro Cuaron, Mireya A. Perez, Mincheol Lee, Eric MacDonald, and Ryan B. Wicker, 2015, “Cooperative Tool Path Planning for Wire Embedding on Additively Manufactured Curved Surfaces Using Robot Kinematics”, Journal of Mechanisms and Robotics, Vol. 7, No. 2, p. 021003.
[18] 林裕哲，2018，“六軸機械手臂具外部刀具中心點控制之數控程式開發與研究”，國立虎尾科技大學機械與電腦輔助工程系碩士論文。
[19] Wenjie Wang, Yuting Cao, Xiaohua Wang, and Lingtao Yu, 2020, “Closed-Form Solution of Inverse Kinematics for a Minimally Invasive Surgical Robot Slave Manipulator Similar to Da Vinci Robot System”, Journal of Engineering and Science in Medical Diagnostics and Therapy, Vol. 3, No. 2, p. 021113.
[20] 陳奕勳，2020，“關節式機械手臂離線編程與運動模擬之研究”，國立虎尾科技大學機械與電腦輔助工程系碩士論文。
[21] SprutCAM Tech，https://sprutcam.com/zh-hant/. (2023.05/16)
[22] ROBOGUIDE，https://www.fanucamerica.com/products/robots/robot-simulation-software-FANUC-ROBOGUIDE. (2023.05/16)
[23] Henrik Mühe, Andreas Angerer, Alwin Hoffmann, and Wolfgang Reif, 2010, “On Reverse-engineering the KUKA Robot Language”, 1st International Workshop on Domain-Specific Languages and models for ROBotic systems, pp. 16-224, Taipei, Taiwan, September.
[24] Igor Košťál, 2014, “A. NET Application Searching for Data in a Log File of the KUKA Industrial Welding Robot”, Proceedings of the 16th International Conference on Mechatronics-Mechatronika 2014, pp. 656-661., Czech Republic, 3-5 Dec.
[25] Fusaomi Nagata, Yudai Okada, Akimasa Otsuka, Takeshi Ikeda, Takamasa Kusano, and Keigo Watanabe, 2017, “Post Processor for Industrial Robots — Circular arc Interpolation of CLS Data to Generate FANUC Robotic Program —”, 2017 IEEE International Conference on Mechatronics and Automation (ICMA), pp. 519-524, Takamatsu, Japan, 06-09 August.
[26] 陳律安，2019，“多軸加工正逆向後處理之研究”，國立虎尾科技大學機械與電腦輔助工程系碩士論文。
[27] 黄滙智，2019，“可重組式六軸機械手臂設計與路徑規劃”，國立彰化師範大學工業教育與技術學系碩士論文。
[28] 佘振華，1997，“空間凸輪五軸加工數值控制程式設計系統之研究”，國立成功大學機械工程學系博士論文。
[29] 林君諺，2021，“基於幾何造型核心之五軸數控編程與模擬系統開發”，國立虎尾科技大學機械與電腦輔助工程系碩士論文。
[30] Microsoft Visual Studio，https://visualstudio.microsoft.com/zh-hant/vs/. (2023.07/20)
[31] OPEN MIND，https://www.openmind-tech.com/tw/cam/. (2023.07/20)
[32] WOLFRAM MATHEMATICA，https://www.wolfram.com/mathematica/. (2023.07/20)
[33] 林俊瑋，2021，“機械手臂奇異點避讓路徑規劃與車銑複合切削模擬之研究”，國立虎尾科技大學機械與電腦輔助工程系碩士論文。
[34] NCGuide，https://www.cncci.com/ncguide-homework-edition-software. (2023.07/20)