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研究生:張廷謚
研究生(外文):Ting-Shih Chang
論文名稱:以Creo Toolkit開發組裝規劃系統
論文名稱(外文):Development of an Assembly Planning System Using Creo Toolkit
指導教授:林清安林清安引用關係
指導教授(外文):Ching-An Lin
口試委員:鄭逸琳謝文賓
口試委員(外文):Yih-Lin ChengWin-Bin Shieh
口試日期:2019-06-25
學位類別:碩士
校院名稱:國立臺灣科技大學
系所名稱:機械工程系
學門:工程學門
學類:機械工程學類
論文種類:學術論文
論文出版年:2019
畢業學年度:107
語文別:中文
論文頁數:110
中文關鍵詞:組裝規劃3D CAD二次開發機械手臂
外文關鍵詞:Assembly planning3D CADApplication programming interfaceManipulator
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隨著機械手臂的應用蓬勃發展,現今自動化生產線常以機械手臂搭配各式夾治具來進行零件組裝,但目前自動化生產線仍有許多前置作業需以人為方式來安排,例如零件組裝的順序及路徑、零件的夾持點…等,本論文透過二次開發工具Creo Toolkit建立一套組裝規劃系統,可直接由零件及組件的3D幾何模型來分析零件的組裝順序及路徑,以減少自動化組裝的前置作業時間。本論文的基本研究方法是先由3D零件的平面和軸線找出可能的零件爆炸方向,然後針對每一個可能的爆炸方向,以射線干涉法確認其可行性,藉以求出零件的爆炸順序及路徑,並自動建立爆炸圖,接著由爆炸圖取得組裝順序及路徑,最後由所得資訊建立組裝模擬的動畫,並使用Epson機械手臂依序組裝零件。
本論文除詳述以組件幾何模型分析組裝路徑及順序之外,也利用鑽頭、卡鉗、檯燈、機車前叉等數個組件作為實例,驗證所開發系統的實用性。
With the rapid application of manipulators, automated assembly lines are relying on multiple manipulators and various types of fixtures. Although the assembly lines nowadays are fully automated, there are still plenty of setups that need to be taken care, such as assembly sequence planning, path planning, grasping points, and so on. This thesis establishes a Creo Toolkit-based assembly planning system, which can generate feasible assembly sequences and assembly paths so as to reduce the time of pre-processing. The basic idea is to find the possible exploded directions of the part to be assembled, which can be extracted from the part’s planar surfaces and axes, and then confirm the feasibility by the ray tracing technique for every single possible exploded direction, so as to generate the exploded sequence and exploded path of the part. An exploded drawing is next automatically established through the output results. Afterwards, the data from the exploded drawing is acquired to build the animation of assembly simulation and Epson manipulator assembles all the components in the sequence.
Besides elaborating on the analysis of assembly sequence and path planning based on the 3D CAD model, this thesis also uses drill, caliper, table lamp, motorcycle’s front fork and various assemblies as examples to verify the practicability of the developed system.
摘要 1
Abstract 2
誌謝 3
目錄 4
圖目錄 7
第一章 緒論 12
1.1 研究動機與目的 12
1.2 研究方法 14
1.3 文獻探討 15
1.4 論文架構 22
第二章 軟體與硬體之介紹 23
2.1 系統環境及開發工具 23
2.1.1 Creo Toolkit之簡介 24
2.1.2 Epson Robot API之簡介 24
2.2 硬體架構 25
2.2.1 Epson機械手臂 25
2.2.2 機械手臂吸嘴 26
第三章 由CAD模型分析 組裝順序及路徑 28
3.1 產生組裝順序之基本方法 28
3.2 以射線原理分析爆炸路徑 34
3.2.1 產生零件可能的移動方向 34
3.2.2 取得零件點資料 38
3.2.3 組裝路徑干涉檢查 39
3.2.4 取得組裝順序 46
3.3 分析結果 49
3.3.1 程式分析之合理性 49
3.3.2 程式分析之通用性 52
3.4 本論文無法處理之情況 62
第四章 建立爆炸圖及組裝動畫 66
4.1 建立爆炸圖 66
4.1.1 定義最大移動量 67
4.1.2 取得零件爆炸距離 68
4.2 爆炸圖比較 73
4.3 建立組件之組裝資料 78
4.4 建立組裝動畫 82
第五章 程式開發及實例驗證 85
5.1 取得爆炸順序及路徑並建立爆炸圖 88
5.2 取得組裝資料 91
5.3 取得吸取點 94
5.4 機械手臂執行組裝 95
5.4.1 座標系轉換 95
5.4.2 執行組裝 97
第六章 結論與未來研究方向 102
6.1 結論 102
6.2 未來研究方向 103
參考文獻 105
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[7] Biswal, B.B., Choudhury, B.B., Mishra, D. and Dash, P (2010) “An overview and comparison of four sequence generating methods for robotic assembly,” International Journal of Manufacturing Technology and Management, Vol. 20, No. 1, pp. 169-196.
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[17] 王啟鑫,「在工業4.0架構下之智慧組裝順序規劃之研究」(2017),碩士論文,東海大學工業工程與經營資訊學系,台中市。
[18] 蔡奇申,「組裝程序自動產生之研究」(2005),碩士論文,台灣大學機械工程學系,台北市。
[19]Chen, W.C., Tai, P.H., Deng, W.J. and Hsieh, L.F. (2008) “A three-stage integrated approach for assembly sequence planning using neural networks,” Expert Systems with Applications, Vol. 34, No. 3, pp. 1777-1786.
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