機械手臂定位誤差可靠度之最佳化設計

隨著自動化產業興起，各類型之機械手臂廣泛應用於各項產業中，而機械手臂的傳動精度、荷重能力與定位之可靠度等要求亦逐漸受到產業重視。而在一般機械手臂設計中，工程師為求機械手臂具有高精度定位，在設計公差及選用關節之元件時，絕大多數來自於工程知識與經驗；且依照需求之定位精度對機械手臂各部位採取高可靠度之設計標準，雖於業界廣泛接受，但卻未考慮到關節元件在製造或裝配過程中相關設計參數具隨機之特性，進而影響機械手臂運動定位產生誤差等相關的問題。本研究將分別針對串聯式與並聯式兩類機械手臂結構進行案例研究。首先，本研究將整合多體動力學模擬軟體RecurDynTM、統計機率理論及蒙地卡羅模擬法發展機械手臂之隨機性動力學及其定位誤差之可靠度分析。各類案例研究中，將分別探討於機械手臂關節由孔、軸組裝配合與齒輪配合傳動時，各設計參數為具隨機特性之設計變數。藉由以上所建立之數值分析模式，本文更將整合實驗設計法進一步的發展一套機械手臂運動定位誤差的可靠度最佳化評估設計方法。相信本研究所發展的隨機性多體動力學分析、定位誤差可靠度分析及其定位誤差可靠度最佳化設計將可被有效的運用於提升相關精密定位設計與精密機械公差設計等的產業應用技術。文中之案例研究，亦將可應用於機械手臂初期組裝設計參數的評估分析，相信對產業發展高可靠度機械手臂的研發技術將有正面的效益。

關鍵字

機械手臂；隨機性多體動力學；定位誤差分析；可靠度分析；實驗設計最佳化分析

並列摘要

Due to prosperity of the automatic industrial, The robot arm of various kinds are applied to every industry extensively, So, Transmission precision, load and positioning of reliability has already became the most important issue of Industry. However, The engineers requires the robot arm to have high precision in the industry, While designing the tolerance and selecting the joint components for use, Nearly come from project knowledge and experience, And, adopt the design standard of the high reliability to the robot arm joint according to the localization precision of the demand, though accept in the industry extensively, not considered the joint component in the course of making or assembling, the design parameter has random characteristics, Influence robot arm sports and produce the positioning errors. In this paper, we will use Serial and Parallel robot arms in the case research. At first, Combine the simulation software RecurDynTM of multibody dynamics and probability theory and Monte Carlo Simulation develop randomness dynamics and the positioning error reliability analysis of robot arm. In case research, will use robot arm joint hole and shaft assemble and gear assemble transmission, the design parameter have the random characteristic. Numerical analysis method established of by this research, we will combine the design of experiments development optimal design robot arm positioning errors reliability methods. Believe this research of development of the randomness dynamics analysis、positioning the errors reliability and optimal design of positioning errors reliability and orient the reliability optimization of the errors and is designed can be applied to improve design of tolerance. The case research in the article, can be applied to robot arms and assemble the mutant assessment analysis of crack after the design in initial stage too. Believe that there will be a positive benefit to develop research and development technology of the high reliability robot arm to the industry.