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博碩士論文 etd-0707110-122825 詳細資訊
Title page for etd-0707110-122825
論文名稱
Title
調整式夾持裝置應用於微組裝系統
The Adjustable Gripper Applied to Micro Package on Automatic Assembly System
系所名稱
Department
畢業學年期
Year, semester
語文別
Language
學位類別
Degree
頁數
Number of pages
71
研究生
Author
指導教授
Advisor
召集委員
Convenor
口試委員
Advisory Committee
口試日期
Date of Exam
2010-06-30
繳交日期
Date of Submission
2010-07-07
關鍵字
Keywords
旋轉、夾持機構、組裝、插入
assembly, gripper, rotating
統計
Statistics
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The thesis/dissertation has been browsed 5616 times, has been downloaded 0 times.
中文摘要
近年由於手機產品、數位相機盛行,小型產品的零件需求量逐年增加,因此要如何快速完成零件的組裝,並且可以穩定的提供成品、半成品及內部零組件便成了各家廠商與研究單位必須探討的問題。在小尺寸的組裝流程中,極少發現使用夾具與平台共同做組裝動作,大多由人工為操作的方式進行,開發微自動組裝系統可以減少失誤增加產品良率。本文開發一個可旋轉零件的調整式夾持裝置,在組裝的過程中可以對零件進行夾持、插入的動作,並精確的控制零件插入方向。本文探討調整式夾持裝置於組裝系統中的應用,配合視覺辨識分析零件位置與形狀,並且設計整個組裝路徑與流程,減少零件受損及組裝時間。
Abstract
During micro packaging process, the products are almost manufactured by hand work. The development of the micro packaging system can reduce human error and automatic process is implemented. This paper describes a method of motion planning of sliding, and rotating manipulations by a adjustable gripper. In precision assembly tasks such as a screw insertion, the task accuracy required for each direction in the task space is different. This paper discusses the adjustable gripper applied on automatic assembly system. The accurate determination of the position and shape of the objects are analyzed and identified by machine vision. The package time is reduced and the product yield rate is raised.
目次 Table of Contents
誌謝......................................................2
摘要......................................................3
英文摘要..................................................4
目錄......................................................5
圖目錄....................................................7
表目錄...................................................11
第一章 序論.............................................12
1-1 前言............................................12
1-2 柱形零件的組裝特性..............................14
1-3 研究動機........................................16
1-4 研究目的........................................17
第二章 文獻回顧.........................................18
2-1 旋轉機構設計....................................18
  2-1-1 推擠機構.................................19
2-1-2 點接觸機構...............................23
2-2 夾持固定方式....................................27
2-2-1 兩指機構.................................27
2-2-2 多指機構.................................31
第三章 研究方法.........................................34
3-1 基礎理論與調整分析..............................34
3-2 夾持機構設計....................................42
3-3 組裝流程建立....................................46
第四章 實驗結果與討論...................................50
4-1 機構元件的尺寸規格..............................50
4-2 實驗設備配置....................................52
4-3 實驗結果........................................54
4-3-1 夾持固定.................................55
4-3-2 插入上鎖.................................61
4-3-3 夾持測試.................................63
第五章 結論與未來展望...................................66
5-1 結論............................................66
5-2 未來展望........................................67
參考文獻.................................................68
參考文獻 References
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