臺灣博碩士論文加值系統

數位科技的進步縮短了構思到實踐的距離，而數位製造的發展也不僅實現了材料思維的設計方法，甚至讓以身體經驗建構設計的方式也成為了可能。本研究欲透過沉浸式技術與機械手臂製造方法，試圖去探討如何將數位製造與如同工藝製作般反覆思考及製作的疊代設計(Iterative Design)方式予以整合。
本研究以(1)綜合環境現況與虛擬資訊為判斷依據的「虛實參照」、(2)直觀且全尺度操作下的「沉浸設計」，以及(3)結合工藝思維及機器人協作的「協作工藝」三個範疇來詮釋混合實境機器人協作工藝系統。而在執行上依照操作的流程歸納出MR環境建置、設計系統建構，機器人輔助製造三個部分作為主要建置的方向，並透過Unity、Grasshopper及C#等軟體環境來加以實踐。而所完成的混合實境機器人協作工藝系統，在配合機器人的輔助操作下完成了實驗之驗證。
本研究之系統提供設計師以直覺操作且疊代的設計流程，在線性材料的操作下得到了實驗的驗證。另外，系統以混合實境的體驗方式強化了於空間中進行設計的體驗性。並且，在非專業人士可快速上手的同時，也透過虛實參照資訊的判斷及操作，為數位製造提供更具空間性與即興創意可能性的工作方式。

The advance of digital technology has shortened the distance from concept to practice, and the development of digital manufacturing has not only realized the design method of material thinking but even made it possible to construct design based on the human experience. This research explores how to use the method through immersive technology and robotic collaboration to integrate digital fabrication and iterative design. This research is based on three categories to explain the robotic collaborative craft system. (1) "Virtual-Real Reference" is the judgment of basis that combines the current situation of the environment and virtual information, (2) the "Immersive Design" is under intuitive and full-scale operation, and (3) the "Collaborative Crafts" which combines craftsmanship thinking and robotic collaboration. In order to practice, there are three main construction directions summarized in the operation process. (Setup MR Environment, Build Design System, and Robot-Assisted Manufacturing). Using Unity, Rhino Grasshopper, and C# to implement the entire system. Therefore, the robot collaboration craft system has completed the experimental verification under the robot-assisted operation. The system here provides designers with an intuitive and iterative design process, which has been experimentally verified under the operation of linear materials. In addition, the system enhances the experientiality of design through the mixed reality. Moreover, while allowing non-professionals can get started quickly, it also provides digital manufacturing with a more spatial and impromptu creative working method through the judgment and operation of Virtual-Real Reference information.

摘要 I
Abstract II
致謝 IV
目錄 VI
圖目錄 VIII
第一章 緒論 1
1.1 .研究動機 1
1.2 過去實驗啟發 1
1.3 研究目標 4
1.4 研究範疇 5
1.5 研究架構 7
第二章 文獻探討 8
2.1 沉浸式科技 8
2.1.1 虛擬實境(VR) 10
2.1.2 擴增實境(AR) 14
2.1.3 混合實境(MR) 19
2.1.4 沉浸式技術之關聯性 20
2.2 虛擬放樣 22
2.2.1 3D掃描概述 22
2.2.2 沉浸式科技輔助的虛擬放樣 25
2.3 沉浸式科技下的設計方式 29
2.3.1 介入VR的設計方式 30
2.3.2 介入AR的設計方式 31
2.3.3 介入MR的設計方式 34
2.4 機械手臂與協作工藝 37
2.4.1 工具機與機械手臂的發展 37
2.4.2 機械手臂概述 38
2.4.3 機器人協作工藝 40
2.5 小結 45
第三章 研究方法 47
3.1 混合實境機器人協作工藝 47
3.1.1 虛實參照 48
3.1.2 沉浸設計 49
3.1.3 協作工藝 50
3.2 系統流程與架構 51
3.3 研究定位 55
3.4 研究限制 56
3.5 小結 56
第四章 混合實境的機器人協作工藝 57
4.1 MR環境建置 58
4.1.1 三維游標設置 60
4.1.2 物件的虛擬放樣 62
4.1.3 空間的虛擬放樣 66
4.1.4 虛擬放樣資訊的延續應用 69
4.2 設計系統建構 71
4.2.1 系統參考平面 73
4.2.2 線段繪製與修正方法 76
4.3 機器人輔助製造 78
4.3.1 RA620-1739設置 79
4.3.2 上銀機器人程式轉換 82
4.3.3 機械手臂路徑規劃與檢測 85
4.3.4 虛實參照下的循環操作 89
4.4 實驗驗證 90
4.4.1 現實參照條件之操作 91
4.4.2 混合參照條件之操作 97
4.5 小結 113
第五章 結論 114
5.1 研究結論 114
5.2 發現與討論 115
5.3 未來研究建議 117
英文參考文獻 119
中文參考文獻 121
網路文獻 121
圖片來源 121
附錄 124
上銀線下控制程式轉譯功能 124
上銀機器人線上控制系統 125
相關工具配置 127
實驗操作影片 130

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中文參考文獻
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網路文獻
[1]deans, M. (2021, March 17). What Is CAM (Computer-Aided Manufacturing)? AUTODESK. https://www.autodesk.com/products/fusion-360/blog/computer-aided-manufacturing-beginners/
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[3]What Is Mixed Reality? (2022, May 26). Microsoft. https://docs.microsoft.com/en-us/windows/mixed-reality/discover/mixed-reality

圖片來源
[1]A TRIBUTE TO JOSEPH ENGELBERGER
https://www.automate.org/a3-content/joseph-engelberger-unimate
[2]ANYbotics
https://www.anybotics.com/advancing-legged-robotics-research/
[3]Apple
https://developer.apple.com/augmented-reality/roomplan/
[4]CXC Simulations
https://www.cxcsimulations.com/
[5]Design World
https://www.designworldonline.com/50-years-of-cad/
[6]Digit
https://www.digit.in/technology-guides/fasttrack-to-augmented-reality/different-types-of-augmented-reality.html/
[7]Facebook-Mark Zuckerberg
https://www.facebook.com/zuck/videos/316791413790661
[8]Gomeasure3D
https://shop.gomeasure3d.com/collections/microscribe-digitizing-arms
[9]H2S Media
https://www.how2shout.com/what-is/difference-between-vr-mr-and-ar.html
[10]HOLA SYSTEMS
https://hola.rs/en/blog/augmented-reality-in-museums-galeries-and-exhibitions/
[11]INSIDER
https://www.businessinsider.com/what-future-gaming-immersive-experience-look-like-jorge-huguet-playstation-2022-3
[12]MediaPipe Objectron
https://google.github.io/mediapipe/solutions/objectron.html
[13]Microsoft
https://www.microsoft.com/en-us/p/roboraid/9nblggh5fv3j?activetab=pivot:overviewtab
[14]MISSION TITLE
https://missiontitle.com/magicplan-floor-plan-creation-app/
[15]OSHA Technical Manual
https://www.osha.gov/otm/section-4-safety-hazards/chapter-4#basic-component
[16]Piclist
http://www.piclist.com/techref/robot/arms.htm
[17]Pokémon GO
https://pokemongolive.com/post/pokemongotour-kanto/
[18]Redesign Sport
https://www.redesignsport.com/
[19]Road to VR
https://www.roadtovr.com/ecs-vr-army-medic-trainer-grant-haptics/
[20]teamLab
https://www.teamlab.art/
[21]TechCrunch
https://techcrunch.com/2010/03/17/gms-enhanced-vision-system-brings-augmented-reality-to-vehicle-huds/
[22]THE ILLEST
https://www.theillest.pl/nikeid-augmented-reality-rzeczywistosc-rozszerzona/
[23]THIIS
https://thiis.co.uk/exclusive-stannah-says-introduction-of-augmented-reality-has-transformed-its-sales-process/
[24]Twitter-Thomas Van Bouwel
https://twitter.com/tovanbo/status/1528018172884004865?s=20&t=ZWvvtdAgSbEliECK5VpO0A
[25]Youtube-Bob Berkebile
https://www.youtube.com/watch?v=lARn-aKKKNU
[26]Youtube-Fologram
https://www.youtube.com/watch?v=j7m7fw6592o
[27]上銀科技官網
https://www.hiwin.tw/