成功大學博碩士論文系統

簡易檢索 / 詳目顯示

回結果列表

研究生：	羅正勛 Cheng-Hsun-Lo,
論文名稱：	藉擋板與條板配置調整微小物件之進料姿態 Orientation of micro objects by utilizing fence and strip plate manipulation
指導教授：	張仁宗 Chang, Ren-Jung
學位類別：	碩士 Master
系所名稱：	工學院 - 機械工程學系 Department of Mechanical Engineering
論文出版年：	2013
畢業學年度：	101
語文別：	中文
論文頁數：	112
中文關鍵詞：	條板、檔板、姿態調整、影像伺服、空間配置
外文關鍵詞：	strip plate, fence, orientation, visual servo, space allocation
相關次數：	點閱：67 下載：0
分享至:	分享至facebook 分享至twitter

查詢本校圖書館目錄查詢臺灣博碩士論文知識加值系統勘誤回報

本論文應用摩擦接觸理論及旋轉規則以實驗搭配擋板與條板微
調角度，輸送調整微物件進料姿態。藉由擋板設置以消除物件進料起
始隨機姿態，並利用CCD 回授微小物件移動情況，建立條板裝置進
行微小物件姿態微調整。建立擋板設置理論，對於微小物件姿態設置
擋板，分析並驗證不同情況下微小物件接觸模式之影響。本文藉由設
計擋板角度與條板配合、空間距離配置與微小物件初始姿態關係，使
得微小物件經過影像伺服調整後可達一致進料姿態，以便後續微系統
生產線上利用。

This thesis applies friction theory and rotational rule and
experimentally utilizes fence and stripe plate mechanism to orient
the attitude of feeding object. By setting a fence with appropriate
angle to orient initial random attitude of feeding object and using
CCD to feedback the angle of object, a stripe plate device is then
employed to orient the attitude of feeding object. This thesis gives
the analysis of contact mode in different situation by setting different
fence angle. By designing the fence with appropriate angle together
with stripe plate device, working space allocation, and initial attitude
of feeding micro object, the attitude of micro objects are oriented
through visual servo to achieve the desired feeding attitude for the
later system production.

摘要 ............................................................................................................. I
ABSTRACT............................................................................................... II
致謝 ........................................................................................................... III
目錄 .......................................................................................................... IV
表目錄 ...................................................................................................... IX
圖目錄 ........................................................................................................ X
符號表 ..................................................................................................... XV
第一章 緒論 ........................................................................................ 1
1-1 前言 .................................................................................... 1
1-2 研究動機 ............................................................................ 2
1-3 文獻回顧 ............................................................................ 2
1-3.1 擋板式進料系統 ....................................................... 3
1-3.2 機器手臂式進料系統 ............................................... 6
1-3.3 推移式進料系統 ....................................................... 7
1-3.4 微進料系統 ............................................................... 9
1-3.5 進料系統應用 ......................................................... 10
1-4 研究目標及方法 .............................................................. 11
1-5 本文架構 .......................................................................... 12
第二章 基礎理論 .............................................................................. 14
2-1 基礎摩擦理論 .................................................................. 14
2-1.1 庫倫摩擦定律 ......................................................... 14
2-1.2 摩擦力模型 ............................................................. 16
2-1.3 摩擦圓錐與摩擦角 ................................................. 18
2-2 平面運動分析 .................................................................. 19
2-2.1 瞬心 ......................................................................... 19
2-2.2 平移運動 ................................................................. 21
2-2.3 旋轉運動 ................................................................. 22
2-3 旋轉理論 .......................................................................... 23
2-4 本章總結 .......................................................................... 24
第三章 微進料與影像伺服系統 ...................................................... 26
3-1 微進料系統 ...................................................................... 26
3-1.1 載具平台 ................................................................. 27
3-1.2 擋板 ......................................................................... 27
3-1.3 檔板旋轉機構 ......................................................... 29
3-1.4 雙擋板進料機構 ..................................................... 32
3-1.5 微小物件 ................................................................. 32
3-2 影像伺服系統 .................................................................. 34
3-2.1 影像量測設備 ......................................................... 34
3-3 系統校準 .......................................................................... 36
3-3.1 載物平台校準 ......................................................... 36
3-3.2 影像校準 ................................................................. 37
3-3.3 樣板比對 ................................................................. 39
3-3.4 物件及機構姿態估測 ............................................. 39
3-4 本章總結 .......................................................................... 44
第四章 系統設計 .............................................................................. 45
4-1 前言 .................................................................................. 45
4-2 公設設計 .......................................................................... 45
4-3 拓樸圖 .............................................................................. 51
4-3.1 單曲線擋板設計 ..................................................... 52
4-3.2 對側型擋板設計 ..................................................... 53
4-3.3 同側型擋板設計 ..................................................... 54
4-4 系統限制 .......................................................................... 55
4-4.1 狹小視野範圍(RV) .................................................. 55
4-4.2 最小工作長度(L) .................................................... 56
4-4.3 簡單、高適應性配置(EA) ..................................... 56
4-5 擋板配置距離 .................................................................. 56
4-6 條板 .................................................................................. 59
4-7 設計流程 .......................................................................... 61
4-7.1 單曲線擋板設計 ..................................................... 61
4-7.2 對側型擋板設計 ..................................................... 61
4-7.3 同側型擋板設計 ..................................................... 62
4-7.4 設計優劣點 ............................................................. 62
4-7.5 綜合設計 ................................................................. 63
4-8 總系統結構設計 .............................................................. 66
4-9 視野空間配置 .................................................................. 69
4-9.1 空間配置圖 ............................................................. 71
4-10 結論 ............................................................................... 72
第五章 實體設計與驗證 .................................................................. 73
5-1 前言 .................................................................................. 73
5-2 假設條件與參數定義 ...................................................... 73
5-3 接觸模式 .......................................................................... 76
5-4 檔板工作分析 .................................................................. 77
5-4.1 旋轉方向 ................................................................. 77
5-4.2 運動分析 ................................................................. 79
5-4.3 經驗曲線 ................................................................. 84
5-5 條板工作分析 .................................................................. 88
5-5.1 旋轉方向 ................................................................. 89
5-5.2 摩擦圓錐法向量 ..................................................... 90
5-6 實驗與控制方法 .............................................................. 94
5-6.1 實際空間配置 ......................................................... 94
5-6.2 控制策略 ................................................................. 95
5-6.3 實驗結果 ................................................................. 98
5-7 結論 ................................................................................ 103
第六章 結論與未來展望 ................................................................ 104
6-1 結論 ................................................................................ 104
6-2 未來展望 ........................................................................ 105
文獻回顧 ................................................................................................. 106
附錄A ..................................................................................................... 109
附錄A-1 材料摩擦係數表一 ................................................ 109
附錄A-2 材料摩擦係數表二 ............................................... 110
附錄B ..................................................................................................... 111
附錄B-1 進料馬達規格 ....................................................... 111
附錄C ..................................................................................................... 112
附錄C-1 CCD 規格 ............................................................... 112

                                    

[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] N. Sawasaki and H. Inaba, "Tumbling Objects Using a
Multi-fingered Robot," Journal of Robotics Society of Japan, vol. 9,
no. 5, pp. 20-31, 1991.
[3] 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.
[4] K. M. Lynch, "The Mechanics of Fine Manipulation by Pushing,"
Proceeding of IEEE International Conference on Robotics and
Automation, pp. 2269-2276, 1992.
[5] K. M. Lynch, H. Maekawa, K. Tanie, "Manipulation and Active
Sensing by Pushing Using Tactile Feedback," Proceeding of
IEEE/RSJ International Conference on Intelligent Robots and
Systems, pp. 416-421, 1992.
[6] F. Gandolfo, M. Tistarelli, G. Sandini, "Visual Monitoring of Robot
Actions," Proceeding of IEEE/RSJ International Conference
Intelligent Robots and Systems, pp. 269-275, 1991.
[7] Y. Okawa and K. Yokoyama, "Control of a Mobile Robot for the
Push-a-Box Operation," Proceeding of IEEE International
Conference on Robotics and Automation, pp. 761-766, 1992.
[8] M. Salganicoff, G. Metta, A. Oddera, G. Sandini, "A Direct Approach
to Vision Guided Manipulation," Proceeding of International
Conference Advanced Robotics, pp. 133-140, 1993.
[9] M. Salganicoff, G. Metta, A. Oddera, G. Sandini, "A Vision-Based
Learning Method for Pushing Manipulation," AAAI Fall Symp. on
Machine Learning in Computer Vision, 1993.
[10]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.
[11]A. Ferreira, C. Cassier, S. Hirai, "Automatic Microassembly System
Assisted by Vision Servoing and Virtual Reality," IEEE/ASME
Transactions on Mechatronics, vol. 9, no. 2, pp. 321-333, 2004.
[12]M. Sitti, "Atomic Force Microscope Probe based Controlled Pushing
for Nano-Tribological Characterization," IEEE/ASME Transactions
on Mechatronics, vol. 8, no. 3, 2003.
[13]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.
[14]M. Shahini, W. Melek, J. T. W. Yeow, "Characterization of Micro
Forces in Pushing Flat Micro-Sized Objects," IEEE Conference on
Automation Science and Engineering, pp. 539 - 544, 2010.
[15]T. Mason, “Planar Manipulation on a Conveyor with a One Joint
Robot,” International Symposium on Robotics Research, pp.
265--276, 1995.
[16]M. Brokowski, M. Peshkin, “Curved fences for part alignment,”
Robotics and Automation, vol. 3, pp. 467-473, 1993.
[17]H. Makino, “New Developments in Assembly System,” vol. 43,
1994.
[18]C. Brost, “Automatic Grasp Planning in the Presence of Uncertainty,”
The International Journal of Robotics Research, vol. 7, no. 1, 1988
[19]K. M. Lynch and M. T. Mason, "Stable Pushing: Mechanics,
Controllability, and Planning," International Journal of Robotics
Research, vol. 15, no. 6, pp. 533-556, 1996.
[20]M. Turitto, C.Tietje, S. Ratchev, “Pneumatic Contactless Microfeeder,
Design Optimisation and Experimental Vlidation,” International
Federation for Information Processing, vol.260, pp. 277-284, 2008.
[21]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。
[22]林敬祐，「影像伺服微物件姿態調整與定位組裝系統之發展」，國
立成功大學機械工程學系碩士論文，中華民國九十八年六月。
[23]M. A. Peshkin and A. C. Sanderson, "The Motion of a Pushed,
Sliding Workpiece," IEEE Journal of Robotics and Automation, vol.
4, pp. 569-598, 1988.
[24]M. T. Mason and J. K. Salisbury, “Robot Hands and the Mechanics of
Manipulation,” The MIT Press,1985.

校內：立即公開
校外：不公開電子論文尚未授權公開，紙本請查館藏目錄

簡易檢索 / 詳目顯示

相關論文