本論文主要應用公設設計理論對微進料系統做設計，並利用機電整合系統工程，有效整合及實現整個系統。整體系統由兩個子系統所組成，分別為物件進料系統與物件回收系統，藉由以上兩個子系統之結合以達到物件進料循環之功能。進料子系統分為三級系統，各級的系統皆有其特定功能。分別對各級系統建立物理模型與實驗驗證。經由所建立的模型得知各級前後之間設計參數的影響，並藉由調整各級系統之間的設計參數，使得微物件最終能夠達到所需要的姿態，以利後續組裝之應用。

In this thesis, Axiomatic design is applied to the design of micro-feeding system and the whole system is integrated and implemented by utilizing mechatronics engineering. The overall system is mainly composed of two subsystems, namely the object feeding system and object recycling system. By combining these two subsystems, the function of cyclic feeding object can be achieved. The feeding subsystem is divided into three independent stages and each stage has their own functions. For each stage, the physical model is built and verified by experiment. The effect of design parameters between consecutive stages are obtained through simulation of physical model. By fine adjusting the design parameters between subsystems, the implementation of micro-feeding system is to achieve the desired orientation of feeding object to facilitate the subsequent assembly application.

[1]M. T. Mason, “Mechanics and Planning of Manipulator Pushing Operations,” International Journal of Robotics Research, vol. 5, no. 3, pp. 53-71, 1986.

[2]S. Akella, W. H. Huang, K. M. Lynch, M. T. Mason, “Planar Manipulation on a Conveyor with a One Joint Robot,” The Seventh International Symposium on Robotics Research, pp. 265--276, 1995.

[3]M. Brokowski, M. Peshkin, K. Goldberg, “Curved fences for Part Alignment,” IEEE International Conference on Robotics and Automation, vol. 3, pp. 467-473, 1993.

[4]S. Akella and M. T. Mason, “Posing Polygonal Objects in the Plane by Pushing,” Proceeding of IEEE International Conference on Robotics and Automation, pp. 2255-2262, 1992.

[5]N. Sawasaki, M. Inoue, “Tumbling Objects Using a Multi-fingered Robot,” Journal of Robotics Society of Japan, vol. 9, no. 5, pp. 20-31, 1991.

[6]Y. Aiyama, M. Inaba, H. Inoue, “Pivoting: A New Method of Graspless Manipulation of Object by Robot Fingers,” Proceeding of IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 136-143, 1993.

[7]K. M. Lynch, “The Mechanics of Fine Manipulation by Pushing, ” Proceeding of IEEE International Conference on Robotics and Automation, pp. 2269-2276, 1992.

[8]N. A. Lynch, C. D. Onal, E. Schuster, M. Sitti, “Vision-Based Feedback Strategy for Controlled Pushing of Microparticles,” Journal of Micro/Nano-Mechatronics, vol. 4, pp. 73-83, 2008.

[9]D. A. Rade, E. B. De Albuquerque, L. C. Figueira and J. C. M. Carvalho, “Piezoelectric Driving of Vibration Conveyors: An Experimental Assessment,” Sensors, vol. 13, pp. 9174-9182, 2013.

[10]G. Reinhart, M. Loy, “Design of A Modular Feeder for Optimal Operating Performance,” CIRP Journal of Manufacturing Science and Technology, vol. 3, pp. 191-195, 2010.

[11]M. Komori, “Characteristics of a Superconducting Linear Actuator Using High-Tc Superconductors and the Control for Driving,” Journal of Cryogenics and Superconductivity Society of Japan, pp. 167-173, 1993.

[12]T. Iizuka, Y. Maeda, K. Aihara, and H. Fujita, “A Micro X-Y-/spl theta/ Conveyor by Superconducting Magnetic Levitation,” IEEE Symposium on Emerging Technologies and Factory Automation, pp. 62-67, 1994.

[13]S. Konishi and H. Fujita, “A Conveyance System Using Air Flow Based on the Concept of Distributed Micro Motion Systems,” IEEE Journal of Microelectromechanical Systems, Vol. 3, pp. 54-58, 1994.

[14]S. Konishi, Y. Mizuguchi, K. Ohno, “Development of A Non-contact Conveyance System Composed of Distributed Nozzle Units,” 7th IEEE International Conference on Emerging Technologies and Factory Automation, vol. 1, pp. 593-598, 1999.

[15]F. M. Moesner and T. Higuchi, “Devices for Particle Handling by an AC Electric Field,” IEEE Micro Electro Mechanical Systems, pp. 66-71, 1995.

[16]G. Fuhr, R. Hagedorn and T. Muller, “Linear Motion of Dielectric Particles and Living Cells in Microfabricated Structures Induced by Traveling Electric Fields,” IEEE Micro Electro Mechanical Systems, pp. 259-264, 1991.

[17]M. Paris, Y. Haddab, P. Lutz and P. Rougeot, “Practical Characterisation of the Friction Force for the Positioning and Orientation of Micro-Components.” IEEE International Conference on Intelligent Robots and Systems, pp. 931-936, 2008.

[18]E. Benes, M. Gröschl, S. Radel, C. Hauser, H. Böhm, H. Nowotny, “New Simple Mathematical Model for the Separation Performance of Ultrasonic Cell Filters,” 2nd Congress of Alps-Adria Acoustics Association, pp. 14-17A, 2005.

[19]A. Haake, and J. Dual, “Particle Positioning by a Two- or Three- Dimensional Ultrasound Field Excited by Surface Waves,” WCU 2003 Conference Paris, pp. 237-240, 2003.

[20]J. Fleischer, S. Herder, and U. Leberle, “Automated Supply of Micro Parts Based on the Micro Slide Conveying Principle,” CIRP Annals-Manufacturing Technology, pp. 13-16, 2011.

[21]N. P. Suh, “Designing-in of Quality through Axiomatic Design,” IEEE Transactions on Reliability, vol. 44, pp. 256-264, 1995.

[22]J. Canny, “A Computational Approach to Edge Detection,” Transactions on Pattern Analysis and Machine Intelligence, IEEE, vol. PAMI-8, no. 6, pp. 679-698, 1986.

[23]P. V. C. Hough, “Method and Means for Recognizing Complex Patterns,” U. S. Patent no. 3069654, 1962.

[24]R.O. Duda, P. E. Hart, “Use of the Hough Transformation to Detect Lines and Curves in Pictures,” Comm. ACM, vol. 15, pp. 11-15, 1972.

[25]M. Brokowski, M. Peshkin, and K. Goldberg, “Optimal Curved Fences for Part Alignment on a Belt,” Journal of Mechanical Design, vol. 117, pp. 27-35, 1995.

[26]F. Xia, “Modelling of a Two-dimensional Coulomb Friction Oscillator,” Journal of Sound and Vibration, vol. 265, pp. 1063-1074, 2003.
[27]U. Leberle and J. Fleischer, “Automated Modular and Part-Flexible Feeding System for Micro Parts,” Journal ref: International Journal of Automation Technology, vol. 8, pp. 282-290, 2014.

[28]P. Wolfsteiner and F. Pfeiffer, “The Parts Transportation in a Vibratory Feeder,” IUTAM Symposium on Unilateral Multibody Contacts. Springer Netherlands, pp.309-318, 1999.

[29]D. Baraff, “Analytical Methods for Dynamic Simulation of Non-penetrating Rigid Bodies,” ACM SIGGRAPH Computer Graphics vol. 23.3, pp. 223-232, 1989.

[30]H. A. Gaberson, “Particle Motion on Oscillating Conveyors—Part 1. The Equations of Motion and the Rules for Predicting Motion Form Transitions,” Journal of Manufacturing Science and Engineering, vol. 94.1, pp. 50-56, 1972.

[31]H. A. Gaberson, “Particle Motion on Oscillating Conveyors—Part 2. Practical Solutions to the Equations of Motion and the Extension of the Theory to Beds of Granular Material,” Journal of Manufacturing Science and Engineering, vol. 94.1, pp. 57-63, 1972.

[32]S. Polukoshko, and V. Gonca, “Dynamics of Gravity Feeder for Prismatic Workpieces,” 8th International DAAAM Baltic Conference, 2012.

[33]K. Kawachi, H. Suzuki, and F. Kimura, “Simulation of Rigid Body Motion with Impulsive Friction Force,” Proceedings of IEEE international symposium on assembly and task planning, pp.182-187, 1997.

[34]謝育倉，「銲線機維護與服務之整合法」，國立成功大學機械工程學系碩士論文，中華民國九十六年七月。

[35]邱德任，「微小物件推移之姿態調整與定位」，國立成功大學機械工程學系碩士論文，中華民國一百零一年一月。

[36]羅正勛，「藉擋板與條板配置調整微小物件之進料姿態」，國立成功大學機械工程學系碩士論文，中華民國一百零二年七月。

[37]陳哲葦，「移動具乾摩擦力微小物件之系統鑑別與控制」，國立成功大學機械工程學系碩士論文，中華民國一百零三年六月。