目前航太業之產品絕大多數都是使用CNC加工機進行加工，使用機械手臂進行加工之技術仍未被廣泛使用，原因在於機械手臂加工之物件，其精度無法達到航太業產品所需之精度要求，若能改善機械手臂加工精度，有助於提升航太業之產能。影響機械手臂加工精度的原因有很多，如溫度等環境因素，以及機械強度等機械因素，本研究將以其中之一的因素「機械手臂之DH (Denavit-Hartenberg)參數」做為研究目標，藉由校正DH參數提升機械手臂精度，使其精度足以應用於航太業之加工。本研究將發展一校正技術，藉由3D雷射追蹤儀(Laser Tracker)與機械手臂結合，建立機械手臂之基座(世界)座標系，進行機械手臂定位精度量測，並運用DH參數模型之定義與理論，進行機械手臂DH參數之校正。最後本研究設定80種機械手臂之姿態，在80種姿態下以使用不同的DH參數進行定位精度量測，比較本研究DH參數與業界DH參數之定位精度，計算本研究DH參數之改良率，以證實本研究之校正技術，具有提升機械手臂加工精度之能力，使其精度足以應用於航太業之加工。;In aerospace industry, most of products are currently manufactured by CNC machines. Robotic arms technology has attracted and started applying to do machining process. The drawback of using robotic arms in the machining is less precision final part that aerospace industry required. Improving the precision of robotic arms system may help to upgrade the capacity of production in aerospace industry. There are many factors, such as environment and machining that affecting the precision when fabricating the part by robotic arms. This study will focus on the DH (Denavit-Hartenberg) parameters of robotic arms. The calibration of DH parameters will be performed to make the precision part suitable for aerospace industry requirement. The method to calibrate was developed by combining robotic arms and 3D laser tracker. The coordinate system of robotic arms was recorded and the precision of position was measured. In addition, DH parameters models were also applied to calibrate in robotic arms. About 80 sorts of poses was measured and recorded in robotic arms. The calculation DH parameters were compared with industrial DH parameters for these 80 poses. The improvement rate of DH parameters was calculated to prove that this technique has ability to increase the precision of machining robotic arms that suitable for aerospace industry.
