臺灣博碩士論文加值系統

使用自動螺絲鎖附系統可以提升組裝生產的效率，並且避免人工鎖附的許多問題，本論文實現一套機械手臂自動螺絲鎖附系統，此系統可以分為教導和控制系統兩個部份，一、教導系統部份，操作者可以透過本論文提出的教導筆快速地完成鎖孔座標位置的教導工作，相較於傳統的教導器，本論文提出的教導筆更適於機械手臂於螺絲鎖附之應用。二、控制系統部份，機械手臂透過順應性控制完成自動螺絲鎖附的工作。此系統於機械手臂最後關節末端安裝力量/力矩感測器，並連接自動螺絲鎖附工具，螺絲鎖附的動作透過結合插洞和轉螺絲兩種動作完成。本論文透過實驗來驗證機械手臂自動螺絲鎖附系統，實驗結果顯示：(一)提出的教導系統透過費茲法則來驗證其操作相當容易且不易操作錯誤，操作者在不同傾斜角度下的平台上工作時，都有相當好的操作效能，以及穩定的錯誤率，並透過準確度和精密度實驗驗證其擁有相當高的準確度和精密度。(二)控制系統部份，實驗顯示透過順應性控制方式可以完成小型螺絲的自動鎖附，並且順應性控制的方法對於控制機械手臂的位移與其對物件的接觸力量，有相當好的穩定性和很小的誤差。

An automatic screw system can improve the efficiency of assembly and to avoid many of the problems. In this thesis, an automatic screw system is proposed for turning screws. This system can be divided into two parts to teach and control system. First, the teach system, the operator can easy to operate and complete teaching tasks rapidly and effortlessly. Second, the control system, mechanical arm to complete the work of automatic screw through the compliance control. In this thesis, the experimental results show: (a) Fitts’ Law is adopted to verify the usefulness of the teach system, and the results show that the system provides high accuracy, excellent operation performance, and a stable error rate. In addition, the system maintains superior performance, even when users work on platforms with different inclination angles. (b) Control experiments showed that compliance control can be done through the automatic lock with a small screw. In addition, compliance control method for controlling the displacement of the mechanical arm in contact the object, there is a very stability.

中文摘要 i
英文摘要 ii
誌 謝 iii
目 錄 iv
表目錄 vi
圖目錄 vii
第一章 緒論 1
1.1 研究動機 1
1.2 研究目的 4
1.3 研究大綱 5
1.4 研究貢獻 6
第二章 文獻探討 7
2.1 教導控制系統 7
2.2 費茲法則 8
2.3 順應性控制 9
2.3.1 主動式順應性控制 9
2.3.1.1 混合位置/力量控制 9
2.3.1.2 阻抗控制 10
2.3.2 順應性控制應用 11
第三章 自動螺絲鎖附系統 12
3.1 系統架構 12
3.2 硬體架構 13
3.2.1 教導筆 13
3.2.2 動作擷取系統 13
3.2.3 工業機械手臂 14
3.2.4 力量/力矩感測器 14
3.2.5 自動螺絲鎖附工具 16
3.3 軟體架構 18
第四章 教導系統 19
4.1 教導系統演算法 19
4.1.1 機械手臂工具端點位置姿態計算 19
4.1.2 教導筆筆尖估測 20
4.1.3 教導筆平台座標校正 21
4.1.4 費茲法則 22
4.1.5 準確度和精密度 23
4.2 教導系統實驗 24
4.2.1 受試者 24
4.2.2 實驗環境與設備 24
4.2.3 實驗步驟 25
4.2.4 實驗相關參數 27
4.2.5 實驗注意事項 28
4.2.6 實驗比較 29
4.2.7 實驗結果 29
4.2.7.1 平均時間 30
4.2.7.2 錯誤率 33
4.2.7.3 效能指標 35
4.3 準確度和精密度實驗 37
4.3.1 實驗內容 37
4.3.2 實驗結果與討論 38
第五章 控制系統 40
5.1 控制系統演算法 40
5.1.1 導納控制 40
5.1.2 鎖孔搜尋 42
5.2 控制系統實驗 43
5.2.1 導納控制參數設定 43
5.2.2 搜尋鎖孔實驗 44
5.2.2.1 實驗內容 44
5.2.2.2 實驗結果與討論 45
5.2.3 自動螺絲鎖附實驗 50
5.2.3.1 實驗內容 50
5.2.3.2 實驗結果與討論 52
第六章 結論與未來展望 55
參考文獻 56

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