以Labview遠端控制輕量化機械手臂

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姓名

羅日廷(Jih-Ting Lo) 查詢紙本館藏

畢業系所

機械工程學系

論文名稱

以Labview遠端控制輕量化機械手臂

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摘要(中)

隨著工業4.0的興起，許多生產線都開始減少人員配置走向自動化。工具機台配備著各式感測器來監控加工狀態，並且透過網路監控回授的數據以及調控參數，這使加工效率比起從前有了大幅的提升。而機械手臂在這個浪潮中扮演著很重要的角色，因為他可以代替工作人員進行精確的抓取動作，讓加工物件在各個加工機台間的移動，成為各個儀器交流的橋梁。
本文透過先前學長設計的機械手臂機構製造兩台機械手臂，推導此機構三維空間座標與馬達旋轉角度之轉換公式，並研究步進馬達以及伺服馬達分別之控制原理。我們透過Labview對伺服馬達與步進馬達組成之機械手臂分別進行控制，使兩隻手臂進行精準的座標移動。最後構築一個網路傳輸介面令使用者可以從遠端得知機械手臂目前之狀態，並且將使用者之命令傳送給伺服端，伺服端接受遠端使用者的路徑命令並使兩台機械手臂依照其進行運動。
最後透過精度實驗以及網路傳輸速度實驗驗證本論文之控制方法，確認使用者可以透過網路從遠端進行即時的資料接收與命令下達，並且機械手臂也能精準的完成使用者之座標命令。

摘要(英)

With the rise of Industry 4.0, many factory start reducing staffing, and focus on automation. In order to do that, they put various kinds of sensors on the processing equipment, monitor the feedback information transmitted over the network, and control them. That makes the processing efficiency much better than before. The robotic arm plays a very important role in this trend. Because it can move the machined object from one processing equipment to another.
In this research, the robotic arm is produced by our laboratory. We derive the formula of the relationship between three-dimensional coordinates and motor rotation angle. And we study to use the step motor and servo motor to control the two robotic arms in Labview system. Finally, we design an internet transmission interface, so users can know the status of two robotic arms and control them by remote connection.

關鍵字(中)

★ 機械手臂
★ Labview
★ TCP/IP

關鍵字(英)

論文目次

摘要 vi
Abstract vii
誌謝 viii
圖目錄 xi
表目錄 xiv
第一章緒論 1
1-1前言 1
1-2研究動機與目的 1
1-3文獻回顧 2
1-4內容架構 2
第二章基礎理論 4
2-1步進馬達構造及原理 4
2-2步進馬達規格 7
2-3步進馬達驅動晶片 9
2-4伺服馬達機構與原理 11
2-5伺服馬達驅動器規格 13
2-6步進馬達與伺服馬達比較 15
第三章研究方法 16
3-1機械手臂座標推導 16
3-2 Labview介紹 19
3-3微控制器MyRio 20
3-4步進馬達命令訊號 22
3-5伺服馬達控制訊號 23
3-6 Labview delay vi 間的差異 25
3-7 TCP/IP通訊 28
3-8藍芽 33
3-9座標陣列 35
3-10客戶端介面 39
3-11行動裝置介面 41
第四章實驗結果與討論 44
4-1步進與伺服機械手臂重複精度實驗 44
4-2 伺服機械手臂位置精度實驗 53
4-3 TCP傳輸速度測試 56
第五章結論與未來展望 64
5-1結論 64
5-2未來展望 65
參考資料 66

參考文獻

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指導教授

黃衍任(Yean-Ren Huang)

審核日期

2018-7-26

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