臺灣博碩士論文加值系統

現今產業應用製造程序遭遇需調整平面待測物姿態時，通常使用頂針手動定位調整，而最常見自動化設備中的史都華平台操作複雜且價格不斐。XXY平台可以達成平面移動及旋轉需求，卻無法隨意調整空間姿態。三軸Z向定位平台可調整空間姿態，但因為缺乏演算控制法則所以缺乏業界實績。因此，本論文針對三軸Z向定位平台之控制方法研究，欲設計此平台姿態調整與單點定位之演算法並驗證。平台平面姿態演算法透過三軸Z模組的移動分類可區分為θx或θy的姿態旋轉，經由前視圖與側視圖姿態分析可以計算出該姿態的三軸移動量，因此可由θx或θy計算出三軸Z所需的移動量而達到姿態調整的目的。平台平面中心點在指定的θx或θy時，此單點定位演算法可透過空間旋轉矩陣計算出移動後的中心點座標，並由各Z軸的最大移動量可推算出中心點的最大可移動範圍。平台平面姿態調整透過模擬得知旋轉θx、θy、θx與θy時顯示最大誤差為+0.0002°左右，而平台平面姿態調整實際驗證結果經傾斜計量測得出平台姿態控制之結果θx為誤差為+0.014°且θy誤差為+0.017°。

Nowadays, operators encounter the need of adjusting the posture of flat tooled objects in manufacturing process, they usually use positioning pin for manual adjustment. However, most of the embedded module in automation equipment, i.e., Stewart stage, is too complex to operate and expensive. The XXY stage could meet the needs of planar movement and rotation, but cannot adjust the spatial posture freely. The triple Z-axes stage can adjust the spatial posture, but the less application due to the lack of control algorithm. Therefore, this research focuses on the design of control methods for the triple Z-axes stage, then verifies it for attitude adjustment and point positioning of this stage. The stage plane attitude control algorithm can be considered into different attitude of the rotation of  x or  y through the movement of the three-axis z module. The three-axis movement of each posture can be calculated through the front and side view of the stage posture analysis. Therefore, the required movement of the three-axis z can be calculated by θx or θy to achieve the purpose posture of the triple Z-axes stage. The stage positioning point coordinate transfer algorithm can be designed to calculate the coordinates from the spatial rotation matrix to obtain the moved coordinate of this point with the specified posture of θx or θy. The maximum possible movement range of the center point can be calculated from the maximum movement of each z-axis. The stage posture adjustment with rotating θx, θy, θx, and θy were simulated to show a maximum error of +0.0002°. However, the results of experimental verification of the stage posture adjustment were obtained through tilt measurement, and the stage posture control results with the error of +0.014° in θx rotation and the error of +0.017° in θy rotation.

摘要 ii
ABSTRACT iii
目錄 v
表目錄 vi
圖目錄 vii
一、緒論 1
1.1研究背景及目的 1
1.2文獻探討 4
1.3研究架構 7
二、研究設備與作動原理 9
2.1研究設備 9
2.1.1平台細部介紹 9
2.1.2平台部件命名 10
2.2平台作動原理 12
2.3電控設備 14
三、平台平面姿態演算法 17
3.1平面演算法設計 17
3.1.1 y軸旋轉公式 19
3.1.2 x軸旋轉公式 21
3.1.3 設計Z1、Z2、Z3軸公式 23
3.2其他應用討論 25
3.2.1上、下極限 25
3.2.2旋轉軸心並非平台上平板中心點 26
3.3軟體模擬與實際驗證 27
3.3.1模擬軟體 27
3.3.2實際驗證 36
3.3.3驗證結果 39
四、平台單點定位演算法 41
4.1空間旋轉矩陣 41
4.2平台中心點移動討論 43
五、結論 51
六、未來展望 52
參考文獻 53

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