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研究生：	林柏伸 Lin, Po-Shen
論文名稱：	微組裝系統之光機分析與驗證 Optomechanical Analysis and Verification in Microassembly System
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：	2010
畢業學年度：	98
語文別：	中文
論文頁數：	122
中文關鍵詞：	軸孔組裝、工作空間拓樸演算法、影像伺服、姿態調整
外文關鍵詞：	Microassembly, working space, Visual-servo, Alignment, Ray tracing
相關次數：	點閱：77 下載：2
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本論文使用蒙地卡羅法與光線追蹤法於微裝配作業的光機整合分析，計畫將建立影像伺服微物件安置調整與組裝系統，以蒙地卡羅方法分析微裝配作業系統機構運動之工作空間，並提出工作空間拓樸演算法，提升使用數值解求空間邊界範圍、邊界或體積的效率，並以光線追蹤法分析裝配作業系統之顯微影像視覺系統架設，最後依光機整合分析之流程，完成微組裝系統之顯微影像視覺系統架設與工作空間的整合分析，驗證完成多物件自動姿態調整與組裝兩個直徑88 μm，長度1 mm，間隙比0.12之圓柱型物件。

The thesis is to apply and verify the applications of Monte Carlo method and ray tracing method in optomechanical analysis of micro assembly operation. At first, a visual-servo micro-object alignment and assembly system is installed. Monte Carlo method is applied for the analysis of the working space of mechanism motion in the micro assembly operation. Ray tracing method is applied for analyzing the image vision system in the micro assembly operation. By following a procedure of optomechanical analysis, the installation of image vision system and working space of mechanism motion will be integrated, analyzed, and verified by experimental tests. Finally, the research is to construct an optomechanical micro-assembly system and achieve an automatic alignment and peg-in-hole assembly with multiple cylinders of diameter 88 m and length 1 mm, and the assembly clearance ratio of 0.12.

摘要	I
Abstract	II
誌謝	III
目錄	IV
表目錄	VII
圖目錄	VIII
符號表	XIV
第一章 緒論	1
1-1 前言	1
1-2 研究動機	1
1-3 文獻回顧	2
1-3.1 光線追蹤	2
1-3.2 工作空間	2
1-3.3 光機整合分析	10
1-4 研究目標與方法	11
1-5 本文架構	14
 第二章 理論基礎	15
2-1 蒙地卡羅(Monte Carlo)方法	15
2-2 基本幾何光學	16
2-3 光學基本單位	20
2-3.1 光度學(Photometry)與輻照度學(Radiometry)	20
2-3.2 立體角(Solid angle)	21
2-3.3 光通量(Luminous flux)與輻射通量(Radiant flux)	21
2-3.4 發光強度(Luminous intensity)與輻射強度(Radiant intensity)	22
2-3.5 光照度(Illuminance)與輻射照度(Irradiance)	22
2-4 影像處理	24
2-4.1 平滑濾波器	24
2-4.2 邊緣偵測	27
2-5 影像形態學	32
2-5.1 膨脹(Dilation)	33
2-5.2 侵蝕(Erosion)	36
2-5.3 閉合與斷開(Closing and Opening)	38
2-6 本章總結	40
 第三章 光線追蹤	41
3-1 光線追蹤	41
3-2 光線追蹤數學模型	42
3-2.1 光線追蹤步驟	42
3-2.2 齊次轉換矩陣	43
3-2.3 光與曲面之交點	44
3-2.4 光線折射與反射	45
3-2.5 光學系統中之光線追蹤	47
3-3 成像分析	50
3-3.1 光照度分佈圖	50
3-3.2 系統模型	51
3-3.3 成像結果	53
3-3.4 BSDF模型	55
3-3.5 重點性取樣(Importance sampling)	58
3-4 本章總結	64
 第四章 工作空間	65
4-1 工作空間分析	65
4-2 工作空間拓樸演算法	66
4-2.1 工作空間邊緣計算	68
4-2.2 工作空間體積計算	70
4-3 協同工作空間	70
4-3.1 明考夫斯基和(Minkowski Sums)	70
4-3.2 拓樸運算	74
4-3.3 協同工作空間分析	77
4-4 本章總結	80
 第五章 光機系統整合分析與驗證	81
5-1 系統整合	81
5-1.1 硬體整合	81
5-1.2 軟體整合	83
5-2 光機系統分析	84
5-2.1 光機系統驗證	86
5-3 實驗驗證	96
5-3.1 驗證結果	96
5-3.2 實驗分析	110
 第六章 結論與未來展望	115
6-1 結論	115
6-2 未來展望	115
參考文獻	117
附錄A	120
A-1	微夾持器之組裝流程	120
A-2	光線追蹤系統設備位置表	121
自述	122

                                    

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校內：2012-07-15公開
校外：2012-07-15公開

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