從設計到製造的每一個決策都需要依賴工程師的專業知識作判斷，任何一個決策錯誤都會導致多餘的成本與延遲上市時間，如果在每一個決策階段都有適當的輔助決策機制提供適當的資訊，整個生產過程就會變得更順利。虛擬實境是一種有用的工具，它可以用來檢視產品的製造過程，因此便可以在第一時間考慮到其產品的可製造性。

　　本論文主旨為利用WTK建立一虛擬多軸工具機之工作環境與介面，提供使用者進行切削運動之模擬。工具機的機型是以工作台傾斜型（u、w）之五軸雕模機為例，系統內部建立其專屬的後處理程式。在動態模擬上本文採用線性差值的方式，來呈現工具機的運動。使用者可經由虛擬工具機的方向控制鍵，進行手動調整，或輸入NC File來進行自動加工的模擬。在碰撞檢測方面，本文採用包絡盒的方式進行檢測，目的是除了可以預測出可能碰撞的位置外，亦可確保模擬時工具機運動的流暢度，碰撞檢測的結果會以及時顯示的方式或是以檔案的方式告知使用者發生碰撞的位置。透過上述的功能，使用者可以經由視窗觀察加工過程工具機模擬切削運動情形，並可判斷出可能發生工具機碰撞的情形及發生碰撞的位置。

　　本系統將可應用在加工程序的規劃與製程的預視，達到縮短產品製程的時間，進而提升產品競爭力。

　　There are many important decisions to be made from the design stage to the manufacturing stage of the product development, each has great effect on production cost and time-to-market. Engineers make these decisions by their expertise. If there is information provided to help engineers making decisions, the whole process will be smoother and the time-to-market can be reduced. The virtual-reality technique can be used to verify manufacturing process and evaluate manufacturability in advance.

　　The objective of this research is to construct a virtual multi-axis machine tool environment and interface for kinematic simulation of machine tool . The configuration of the virtual machine is based on rotary table type five-axis sculpturing machine. The postprocessor is implemented in the simulation system. The kinematics of the virtual machine is represented by linear interpolation. Users can perform manual operation by the direction buttons on the control panel or import NC file to perform automatic machining. Bounding box technique is used to perform collision detection, which has the advantage of detecting collision quickly while maintaining the smoothness of simulation. The result of collision detection can be shown real-time or saved into file to inform the user. With the provided functions of the developed software system, the user can verify the kinematics of the machine tool and identify possible collision between machine tool and workpiece.

　　The developed system can be used for process planning and preview to reduce planning time and to increase competitiveness.

總目錄

中文摘要 I
ABSTRACT II
總目錄 III
圖目錄 V
表目錄 VII

第一章　緒論 1
　　1-1 概述 1
　　1-2 研究目的與範疇 2
　　1-3 論文架構 3

第二章　文獻回顧 4
　　2-1 虛擬實境 4
　　2-2 虛擬製造應用與技術 8
　　2-3 後處理程式 13

第三章　座標轉換原理與五軸加工後處理程式設計 15
　　3-1 座標轉換矩陣 15
　　　　3-1-1 基本座標轉換矩陣 15
　　　　3-1-2 繞任意軸旋轉之轉換矩陣 21
　　　　3-1-3 尤拉角轉換(Euler Angle Representations) 22
　　3-2 後處理程式設計 23
　　　　3-2-1 後處理程式概述 23
　　　　2-2-2 五軸加工之幾何定義與形式分類 24
　　　　3-2-3 工作台傾斜型的五軸工具機後處理 29

第四章　虛擬製造系統架構 34
　　4-1 系統設計需求 34
　　4-2 系統開發工具 36
　　　　4-2-1 系統硬體 36
　　　　4-2-2 系統軟體 36
　　4-3 工具機模型建構 40
　　4-4 虛擬多軸工具機系統人機介面架構 45
　　4-5 工具機動態模擬 57
　　4-6 系統操作程序 60
　　4-7 碰撞檢測模式 62

第五章　結果與討論 64
　　5-1 BEZIER曲面建構與NC程式產生結果與討論 64
　　5-2 虛擬製造系統模擬加工結果與討論 66

第六章　結論與建議 71
　　6-1 結論 71
　　6-2 建議 72

參考文獻 74


圖目錄
圖2-1虛擬實境軟硬體架構組合 6
圖2-2虛擬製造與真實製造之比較 9
圖3-1 座標系統轉換關係圖[34] 17
圖3-2 座標系統轉換示意圖[34] 20
圖3-3 尤拉角轉換 22
圖3-4 CAM系統、工具機與後處理之關係圖 26
圖3-5 五軸加工之幾何學意義 26
圖3-6 機械座標軸定義 27
圖3-7 基本的五軸工具機分類 27
圖3-7 基本的五軸工具機分類 (續) 28
圖3-8主軸傾斜型五軸工具機結構與元件流程圖 31
圖4-1 WTK標準迴圈流程 39
圖4-2 虛擬機房 40
圖4-3 虛擬工具機U（第二）旋轉軸 41
圖4-4 虛擬工具機W（第二）旋轉軸 41
圖4-5 虛擬工具機Y軸 41
圖4-6 虛擬工具機的階層架構圖 42
圖4-7 虛擬環境建構流程圖 43
圖4-8 建構完成的虛擬多軸工具機外觀 44
圖4-9 虛擬工具機主要物件關係圖[30] 46
圖4-10 虛擬工具機視窗介面 46
圖4-11 運動控制框架功能表示圖 47
圖4-12 功能鍵功能示意圖 48
圖4-13 自動加工之工作流程圖 49
圖4-14 File選單 50
圖4-15 NC File對話視窗 50
圖4-16 後處理選單 53
圖4-17 後處理程式初始參數設定 53
圖4-18 輸入CL File對話視窗 53
圖4-19 CL File轉NC File流程圖 54
圖4-20 File選單 55
圖4-21 Export NC code對話視窗 55
圖4-22 Step Set 選單 56
圖4-23 設定Step參數的對話視窗 56
圖4-24 狀態列 56
圖4-25 NC File格式 57
圖4-26 線性內插示意圖 58
圖4-27 Motion Function工作流程示意圖 59
圖4-28 系統操作流程 61
圖4-29 碰撞檢測模組選擇 62
圖4-30 發生碰撞時的警告視窗 63
圖4-31 碰撞檢測記錄檔 63
圖5-1 Bezier曲面模型 64
圖5-2 Bezier曲面之CL File 65
圖5-3 Bezier曲面之NC File 65
圖5-4 Bezier曲面第一道次加工前虛擬工具機與工件實體切削對照圖 66
圖5-5 Bezier曲面第一道次加工後虛擬工具機與工件實體切削對照圖 67
圖5-6 Bezier曲面第二道次加工後虛擬工具機與工件實體切削對照圖 68
圖5-7 Bezier曲面加工完成虛擬工具機與工件實體切削對照圖 69


表目錄
表5-1 BEZIER曲面控制點 64

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