遙軸順應性裝置(remote center compliance device, 簡稱RCC)是一種被動式的誤差補償機構，可裝置在機械手臂末端，提供自動化裝配過程中可能產生的定位與角度誤差補償，使裝配能夠順利完成。本研究提出了一個適用於遙軸順應性裝置的拓樸最佳化方法，並將此方法應用於一個創新的遙軸順應性裝置的設計，目標為設計出相對於市售遙軸順應性裝置更大的補償範圍與更低裝配力的設計。在拓樸最佳化理論方面，本研究根據遙軸順應性裝置的順應中心特性，結合了撓性平移絞鏈與撓性旋轉絞鏈的拓樸最佳化理論，使順應中心能位於插件的末端，達成成功裝配的條件。本研究接著以撓性平移絞鏈與撓性旋轉絞鏈做為範例機構，展示可透過拓樸最佳化中的平移限制式與旋轉限制式分別調整機構的平移特性與旋轉中心位置。本研究參考市售遙軸順應性裝置的尺寸定義設計區間的範圍，在設計區間範圍內設計出16種拓樸最佳化結果，根據篩選準則挑選出最佳的三個案例進行順應中心分析，最後挑選出最符合目標順應中心特性的案例，並進行裝配力分析與試做驗證。測試項目包含了遙軸順應性裝置在裝配時可容許的最大偏移量與偏轉角度測試、裝配力測試以及剛性量測。實驗結果顯示，本研究與市售的遙軸順應性裝置均能在配件治具導角範圍內的偏移量4 mm內成功裝配。在最大偏轉角度方面，本研究的遙軸順應性裝置的最大偏轉角度為9度，高出市售遙軸順應性裝置350%。裝配力測試的部分，本研究的最大裝配力與平均裝配力分別為10.76 N和4.89 N，相較於市售的裝置能夠分別減低67.3%與75.2%。依據剛性量測的結果，本研究的遙軸順應性裝置之x方向剛性為1.87 N/mm，y方向的抗壓剛性為27.29 N/mm，y方向抗拉剛性為30.05 N/mm，z方向剛性為5.99 N/mm，繞z軸旋轉之剛性為72.30 N-m/rad。

A remote center compliance (RCC) device is commonly used in automated industry and can be applied for correcting alignment errors with peg-in-hole assembly applications. When the compliance center is near the contact point, the peg will automatically correct lateral and rotational misalignment. In order to develop an RCC that has a wider compensation range and a less assembly in peg-in-hole applications, this study presents a topology optimization method that combines the concepts of translational and revolute flexure hinges to design an innovative RCC. The compliance center of the RCC can be adjusted based on the proposed topology optimization method. After an optimum design is obtained, the RCC is prototyped through additive manufacturing using a thermoplastic elastomer (TPE). Experiments, including the identification of maximum allowable translational and angular misalignments, assembly force, and stiffness measurements, are conducted in this study, and the results are compared against the test results of a commercial RCC. The experimental results show that the insertion can be completed within the 4mm translational misalignment, and maximum allowable angular misalignment of the developed RCC is 9 degrees, which is 350% higher than the commercial RCC. The maximum assembly force is 10.76 N, which is 67.3% lower than the commercial RCC and 90.0% lower than without RCC. The average assembly force is 4.89 N, which is 75.2% lower than with the commercial RCC and 91.9% lower than without RCC. The stiffness measurement results show that the stiffness of the developed RCC in the x-direction is 1.87 N/mm, the compressive stiffness in the y-direction is 27.29 N/mm, the tensile stiffness in the y-direction is 30.05 N/mm, the stiffness in the z-direction is 5.99 N/mm, and the rotational stiffness around the z-axis is 72.3 N-m/rad.

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