主動式組裝系統、主動式組裝之方法及其定位組裝裝置

專利類型

發明

專利國別 (專利申請國家)

中華民國

專利申請案號

106120266

專利證號

I 639906

專利獲證名稱

主動式組裝系統、主動式組裝之方法及其定位組裝裝置

專利所屬機關 (申請機關)

中原大學

獲證日期

2018/11/01

技術說明

「具主動式對準功能之六軸機器人系統開發」為一年期計畫，本研究計畫之目的為針對輔導廠商擬開發主動式對準功能之製程設備，設計製作一具有六自由度之Stewart 並接式平台機械手臂配合影像分辨率測量方法，以符合精確、快速、造型簡單、經濟之需求。以目前鎖定光學鏡片之主動式對準功能需求，六自由度之並接式平台機械手臂系統之定位控制之重複線性精度為+/-0.1mm、旋轉精度可達+/-30arcsec。運行工作空間以CCD 視覺中心為原點正負一半的行程計量:沿X 及Y 軸方向為+/-50mm、Z 軸方向為+/-25mm。計畫內容主要包括並接式平台機械手臂之機構分析與最佳化設計、運動學模型推導及程式撰寫、動態數模建立與致動系統設計分析、路徑軌跡規畫、控制系統設計、誤差校正補償、人機介面設計，及影像分辨率測量方法軟體撰寫，最後進行與系統整合與測試。各項設計重點為並接式平台機械手臂與傳動結構之設計分析，及依據所建立之運動學模型設計及程式化順/逆向運動學演算法則，符合動態運動分析之馬達及導螺桿設計，及符合工作需求之平穩路徑軌跡規畫設計，及結合擾動觀測器、ZPETC 前饋控制器、PID 或EWMA 回授控制器與往覆式控制，並利用基因演算法尋找最佳PID 增益控制參數之數位式回授控制法則，及配合實驗量測建立誤差校正補償方法，及利用LabVIEW內建之函數，如IMAQ ReadFile、IMAQ LineProfile、Get ROI、及FFT 頻譜(幅度-相位)等，來設計具影像分辨率測量方法以提共正確及有效之主動式對準資訊，設計以PC-based 為基礎之人機控制介面，以及反覆實驗測試進行功能驗證與修正。 This proposed project entitled “Development of A 6DOF Robot System for Active Alignment” is a one-year project proposed to NSC. The objective of this study is to build a high-precision, high-speed,simple and economic 6DOF Stewart robot system associated with image resolution measurement method for active alignment. According to the requirement of cooperative company for the selective application of lens active alignment, target of the developed 6DOF robot system is repeatability of linear and rotation is +/-0.1mm and +/-30arcsec respectively. The workspace is +/-50mm along the X and Y axis, and +/-25mm along the Z axis with respect to the center position of CCD. The main research topic includes analysis and optimization of mechanism, design of kinematic modeling and algorithm, dynamic modeling and actuation system, trajectory planning, control system, calibration and error compensation, man/machine interface design, image resolution measurement method, and system integration and performance evaluation. The fundamental investigation for each of these design issues is structure analysis and design of Stewart platform and transmission mechanism; forward/inverse kinematic modeling and programming; motor and ball screw design; smooth and steady trajectory planning; discrete-time feedback control with disturbance observer,ZEPEC feedforward controller, PID or EWMA feedback controller and repetitive control, and optimal PID design by using genetic algorithm; the calibration and error compensation method based upon experimental testing; the PC-based man/machine interface; The image resolution measurement method by using LabView functions such as IMAQ ReadFile, IMAQ LineProfile, Get ROI, FFT Spectrum (Mag-Phase), etc. to provide efficient and accurate information for active alignment. System integration and experiment will be carriedout to verify the performance.

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