在過去研究中，較多是探討Kiva機器人於物流中心的料架配置及路線規劃，而較少針對Kiva系統進行研究，另外，將Kiva機器人運用在支援生產線物料的供給、暫存、載運等的系統，也相當少見。因此本研究將導入Kiva支援動態生產線WIP(Work In Process)搬運及存取晶圓棒的作業進行研究，並探討料架安全性問題。
主要研究問題有兩個：由於晶圓棒的成本昂貴、重量較重，因此本研究以料架安全性為首要考量，提高安全容忍度，並進行一系列的平衡分析，包含靜態、動態及旋轉平衡。接著，在考量重心的前提下，制定一套最安全的存取原則，最後再進行實地測試驗證原則。
研究結果發現有非常多種狀態皆可能影響平衡問題，因此為了制定一套最安全的存取策略，本研究將著重於晶棒的儲存策略，因為若有良好的存放原則，則只須要制訂幾個簡單的揀取原則，即可使料架在揀取過程保持穩定。
本研究主要針對8吋晶圓棒之料架進行研究，料架雙面皆可存放，一面四層。存放原則部分，以20公斤以上的晶棒擺放在最下面兩層；20公斤以下的晶棒則擺放在最上層；而第二高層皆可存放。揀取原則須遵守「單面一次揀取一層即轉面」的原則，就能夠使料架保持最安全的狀態。最後經過測試後發現料架不穩定的次數確實減少，這除了驗證存取原則的可行外，同時也證明若有良好的存放原則，就可以大幅降低因揀取而產生料架不平衡的問題。

Most studies on Kiva systems were on pod configuration and route planning in a distribution center. We work on implementing Kiva systems to support wafer rods storage and picking operations considering stability of pods when moved by kiva robots and is the first of the kind in research.
Because wafer rods are too heavy and expensive, the objective of the study is the safety of pod movement by kiva robots and three kinds of balance were considered which are static balance, dynamic balance and rotation balance.
The result shows that there are many scenarios of rod storage on a pod that could trigger either one of balance problems. To construct safe storage and picking operations, we regard wafer rod storage strategy on a pod as the main concern because if wafer rod storage is in good form, we only need to regulate simple principles for picking processes to be stable.
For 8 inches of wafer rods on a pod having four layers, the principle of storage states that 20 kgs or more of wafer rods should be stored at the lower 2 layers, while those less than 20 kgs wafer rods should be put in the top layer and the second highest layer could store both kinds of wafer rods. The main picking principle is that “pick one layer at a time before the rack must turn to the other side.” By following a good storage assignment principle, the problem of unbalanced pods due to storage and /or picking operations can be greatly reduced.

摘要 i
Abstract ii
致謝 iii
目錄 iv
表目錄 vi
圖目錄 vii
第一章 緒論 1
1.1研究背景 1
1.2研究動機 2
1.3研究目的 3
1.4論文架構 5
第二章 文獻探討 7
2.1晶圓(Wafer) 7
2.1.1晶圓製造程序 7
2.2 Kiva 10
2.2.1 Kiva系統 11
2.2.2 Kiva邏輯 14
2.2.3 Kiva作業流程 15
2.2.4 Kiva特色 16
2.2.5 Kiva相關研究 18
2.3儲位規劃 20
2.3.1儲存策略 20
2.3.2儲位指派 22
第三章 研究方法 24
3.1問題定義和描述 24
3.2料架平衡分析 25
3.2.1靜態平衡 27
3.2.2動態平衡 30
3.2.3旋轉平衡 34
3.2.4揀貨次序分析 36
3.2.5上架作業最佳化概念模型 39
第四章 研究結果與分析 40
4.1實驗環境及測試準備 40
4.1.1實驗環境 40
4.1.2測試準備 41
4.2研究結果 42
4.2.1 存放原則 42
4.2.2 揀取原則 51
第五章 研究結論與建議 58
5.1研究結論 58
5.2未來研究建議 59
參考文獻 60

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