電腦輔助夾爪選用規劃

Computer-Aided Programming for Selecting Grippers

蔡佩佳(Pei-Chia Tsai)

指導教授 ： 李志中

國立臺灣大學/工學院/機械工程學研究所/碩士(2013年)

https://doi.org/10.6342/NTU.2013.10044

摘要

現今在工業界的生產線上，最耗時耗力的前置工作便是替夾持物件選配合適的模組化機械夾爪，本文主旨在研究對於各種不規則外形之夾持物件，如何既快速且便捷的從現有的夾爪資料庫中，挑選出最合適的夾爪。
為了能快速地從現有的夾爪資料庫中找出合適的夾爪，本論文利用電腦輔助工具，使用MATLAB軟體發展圖形使用者介面（GUI）的操作環境，透過使用者介面讓使用者能容易的操作選用夾爪的過程。
此一過程為使用者事先將夾持物件及夾爪的資料輸入電腦後，由影像辨識的邊緣偵測法（Sobel operator），辨識出夾持物件的外緣圖形，整合夾持物件的資料用來計算出所需要的力量後，再連接到夾爪資料庫去搜尋出匹配的夾爪。規劃完成後會將資料回傳存回夾持物件的資料欄位中，並在GUI視窗上顯示選用的夾爪資訊。

關鍵字

模組化夾爪 ； 電腦輔助 ； 圖形使用者介面 ； 邊緣偵測

並列摘要

Current in the industrial production line, for each object that you want to select the appropriate modular grippers will become the most time-consuming pre-job. The purpose of this study is to design how to quickly and easy select the most suitable modular grippers from an existing database for a variety of irregularly shaped objects.
In order to be able to quickly find a suitable gripper from existing databases, this thesis is using computer-Aided programming. This study uses the software MATLAB to develop a Graphic-User-Interface（GUI）operating environment; the user interface allows users to easily manipulate the process of selection of the grippers.
This process starts with the user entering object’s data and gripper’s data into the computer program in advance, and then uses edge detection method（Sobel operator）to identify the outer edge of the object graph. In the last step, it connects to the object’s database to calculate the required force, and to the gripper’s database to search for matching grippers. After all, the data will be stored back into the object's data fields, and shows the selected gripper’s data on the GUI window.

並列關鍵字

Modular Gripper ； Computer-Aided Programming ； Graphic User Interface ； Edge detection

參考文獻

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[3]Pham, D.T., and Yeo, S.H., “Strategies for Gripper Design and Selection in Robotic Assembly,” International Journal of Production Research, Vol. 29, No.2, pp. 303-316. (1991)

[4]Pham, D.T., and Yeo, S.H., “A Knowledge-based System for Robot Gripper Selection: Implementation Details,” International Journal of Machine Tool Design and Research, Vol. 28, No.4, pp.315-324. (1988)

[5]Causey G.C., and Quinn R.D., “Gripper Design Guidelines for Modular Manufacturing,” Proceedings of the 1998 IEEE International Conference on Robotics and Automation, Vol. 2, pp1453 – 1458. (1988)