臺灣博碩士論文加值系統

近年來，工業快速發展，工業 4.0 已慢慢向工業 5.0 邁進。工業快速發展的時代，機械手臂有著許大的貢獻。它能使工廠降低人力資源，以及進行更危險的工作，能讓員工遠離危險。機械手臂可大量取代人力這是無庸置疑的，因此高效能且靈活的機械手臂是目前智慧製造迫切所需 。

機械手臂分為協作型及工業型，協作型為為人機配合，工業型可完全取代人力，但工業型價格昂貴，會造成中小型企業成本增加，而協作型，本質還是離不開操作員在旁邊，輔佐為主，如果要讓協作型機械手臂能夠勝任工業型機械手臂的任務，更智能的系統及開發是智慧製造所需的。

本論文在協作型機械手臂上加上工業機器人視覺模組，並透過機械手臂本身的人機介面來撰寫程式，使機械手臂能夠快速設定，並透過工業機器人視覺模組、模組化吸嘴的協助下，使機械手臂能夠完成自動尋物及排放，並利用 Design-Expert 最佳化分析軟體以及 Minitab 探討找出能影響機械手臂速度的因子，以速度最快並提出相對應解決的辦法，最後最佳化參數結果為吸嘴數量 2 支、工具速度 500mm/s 和工具加速度 2400mm/s2。

In recent years, the rapid development of industry, Industry 4.0 has been slowly moving towards Industry 5.0. In the era of rapid industrial development, robotic arm has a lot of contribution. It enables factories to reduce manpower resources and perform more dangerous work, which can keep employees away from danger. There is no doubt that robotic arms can replace manpower in large numbers, so high performance and flexible robotic arms are now an urgent need for smart manufacturing.

There are two types of robotic arms: collaborative type and industrial type. Collaborative type is for human-machine cooperation, industrial type can completely replace human labor, but industrial type is expensive, which will cause cost increase for small and medium-sized enterprises, while collaborative type, the essence is still to leave the operator at the side, auxiliary mainly, if we want collaborative robotic arm to be able to perform the tasks of industrial robotic arm, more intelligent system and development is needed for smart manufacturing.

This paper adds industrial robot vision module to the collaborative robotic arm, and writes the program through the human-machine interface of the robotic arm itself, so that the robotic arm can be set up quickly, and with the help of industrial robot vision module and modular nozzle, the robotic arm can complete automatic object finding and discharging, and use DesignExpert optimization analysis software and Minitab to explore We use Design-Expert optimization analysis software and Minitab to find out the factors that can affect the speed of the robot arm, and propose the fastest and corresponding solution, optimized parameters are 2 nozzles, 500mm/s tool speed and 2400mm/s2 tool acceleration.

摘要.....i
Abstract.....ii
誌謝.....iii
目錄.....iv
表目錄.....v
圖目錄.....vi
符號說明.....viii
第一章 緒論.....1
1.1前言.....1
1.2研究動機.....2
1.3文獻回顧.....3
1.4研究流程.....8
第二章 系統硬體架構.....10
2.1模組化吸嘴設計架構.....10
2.2工業視覺模組.....14
2.3機械手臂.....15
第三章 機台操作及實驗流程 .....18
3.1 機台操作步驟、座標轉換校正及程式撰寫.....18
3.2 實驗流程.....24
第四章 實驗結果.....27
4.1數據整理.....27
4.2數據分析.....28
4.3實驗驗證.....36
第五章 結論與未來展望.....37
5.1結論.....37
5.2未來規劃.....37
參考文獻.....38
Abstract.....40
Chapter 1 Introduction.....41
Chapter 2 Machine operation and experiment process.....41
Chapter 3 Experimental results.....42
Chapter 4 The results.....44
Chapter 5 Discussions.....45

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