以機器手臂研磨金相試體

本系金相實驗課程主要是觀看金屬晶格，實驗第一個步驟就是用人工方式來研磨金屬，以目測方式觀看材料表面是否逹到所需的平滑度，再進行下一步驟，本論文主要是以機械手臂來研磨金相試體，並找出理想的研磨參數，就可利用機器取代人工的研磨作業。主要工作有使用共軛焦顯微鏡量測粗糙度、手臂路徑規劃和接觸面積校正、夾具製作、與田口式參數的設計等。田口式參數選用研磨次數、機器手臂移動速度、研磨深度、砂帶轉動速率等四項，設計四個因子三個水準的實驗，結果顯示研磨次數對金相試體表面粗糙度的影響最大，其它依序為研磨深度、砂帶轉動速率、機器手臂移動速度。研磨完成後使用共軛焦顯微鏡進行粗糙度的測量，研磨前的面平均粗糙度(Sa)為 11.27μm，研磨後數值為1.56μm，有明顯改變。

關鍵字

共軛焦顯微鏡；田口式參數法；面平均粗糙度

並列摘要

The main purpose of the course metallographic experiment in Tamkang University is to observe the metal lattice. The first step is to grind the metal manually, and visually observe whether the surface of the material reaches the required smoothness, and then proceed to the next step. The purpose of this thesis is to grind the metallographic specimen, and determine the suitable grinding parameters to replace manual grinding operation by robot arms. The main work includes roughness measurement, arm path planning，contact area correction, fixture parts manufacturing, and Taguchi parameter design. The Taguchi experimental factors are grinding number of times, the moving speed of robot arm, grinding depth, and rotation rate of the abrasive belt. Each factor has three levels. , Results show that the most influential factor is number of grinding times, and arranged in order of descending influence the others factors are grinding depth, belt rotation rate, and robot arm moving speed. A conjugate focus microscope is used before and after grinding experiment to measure the arithmetic average of the 3D roughness (Sa). Its value before and after grinding are 11.27μm, and Sa 1.56μm, respectively, implying a significant change duo to grinding.

並列關鍵字

A conjugate focus microscope ； Taguchi experimental factors ； 3D roughness

參考文獻

1.Kunieda, M., Nakagawa, T., and Higuchi, T., 1984, Development of a Polishing Robot for Free Form Surface, Proceedings of the 5th International Conference on Production Engineering, pp.265-270, Tokyo.

Google Scholar

2.Liu, L., Ulrich B.J., and Elbestawi, M.A.,1990, Robotic grinding force regulation: Design, implementation and benefits. Proceedings of the 1990 IEEE International Conference on Robotics and Automation, pp.258-265.