臺灣博碩士論文加值系統

六軸機械手臂在現代工業中扮演著關鍵角色，能夠自動執行各種任務，並取代人力處理重複性、高風險和高精度的工作。然而，機械手臂在操作上仍存在一些限制，如空間限制、運動靈活度不足和定位精度等問題。為了解決這些限制，本研究將機械手臂與第七軸移動平台結合，以擴大可控制的範圍並提高第七軸的定位精度。
在本研究中，我們選擇基於位置控制的伺服控制系統，通過控制馬達的位置來實現系統的高速運動和高精度運動。並 使用PID控制器來實現伺服控制系統，通過調整PID參數，可以實現系統的快速響應、穩定運動和抗干擾能力。
本研究透過乙太網路控制六軸機械手臂和第七軸伺服馬達，實現對此機械手臂暨第七軸不同設備的上下料測試，驗證了該平台的精度。以500mm/sec的速度移動時，機械手臂末端的重複精度為±0.2mm。而經過溫升補償後，機械手臂末端的重複精度為±0.03mm。

Six-axis robotic arms play a crucial role in modern industry, as they can automatically perform various tasks and replace human labor in repetitive, high-risk, and high-precision operations. However, robotic arms still face certain limitations in terms of spatial constraints, limited agility, and positioning accuracy. To overcome these limitations, this study combines the robotic arm with a seventh-axis moving platform to expand the controllable range and improve the positioning accuracy of the seventh axis.
In this study, the high-speed and high precision motion of the seventh axis is performed by a position-based servo control system. The PID controller in the servo control system can achieve fast response, stable motion, and disturbance rejection by adjusting the PID parameters.
The loading and unloading jobs are implemented by the robot arm and seventh axis which is controlled through Ethernet. The repeatability of this robot arm and seventh-axis platform is about ±0.2mm at a speed of 500mm/sec. After the temperature compensation, the repeatability is about ±0.03mm.

摘要...i
Abstract...ii
誌謝...iii
目錄...iv
表目錄...v
圖目錄...vi
第一章 緒論...1
1-1研究動機與目的...1
1-2文獻回顧...1
1-3研究方法...3
1-4研究大綱...4
第二章 機械手臂第七軸平台設計...5
2-1 第七軸線性平台規劃...5
2-2 機械手臂選用與設置...7
2-3 推力需求與馬達選用...9
2-4 第七軸線性平台控制設計...12
第三章 第七軸平台性能調整與測試...14
3-1第七軸波德圖穩定度判斷...14
3-2第七軸頻寬與響應速度調整...16
3-3不同速度下第七軸穩定度測試...20
3-4機械手臂運動下第七軸穩定度測試...22
第四章 機械手臂與第七軸控制系統...25
4-1第七軸控制系統介面規劃...25
4-2機械手臂通訊與控制...25
4-3第七軸移動與控制...31
4-4第七軸與機械手臂組合動作精度測試...33
第五章 結論...39
參考文獻...40
Extended Abstract...41

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[7]YASKAWA 工業機器人
https://www.yaskawa.com.tw/robot/industrial-robots/
[8]台達 ASDA-A3 系列伺服系統應用技術手冊
http://www.phelipu.com.tw/download/DELTA_IA-ASD_ASDA-A3_UM_TC_20200831.pdf
[9]YASKAWA YRC1000 NOTES FOR SAFE OPERATION
http://assets.efc.gwu.edu/yaskawa-motoman/178949-1CD.pdf
[10]YASKAWAYRC1000 OPTIONS INSTRUCTIONS FOR CONCURRENT I/O
http://www.wtech.com.tw/public/download/manual/yaskawa/NX100/YASKAWA NX100ConcurrentIOManual.pdf