並聯式SCARA機械手臂之研製

由於工業市場需求與產量增加，工業界在設備上早已朝向自動化設備邁進，自動化工業為提升生產效率與產品穩定度以及得以降低生產線上人力成本，機械手臂(Robot arn)已被廣泛利用，取代掉人類的手臂。現今科技發展已能使機械手臂搭配上感測器讀取回授訊號，使手臂安全的完成作業上之需求。在本論文以研製工業用並聯型SCARA機器人為主要目的，SCARA（Selective Compliant Assembly Robot Arm）選擇性裝配機器手臂，是一種圓柱座標型的特殊工業器人，一般應用於重複性動作之裝配生產線上。在本論文研究中SCARA機械手臂形式，將選用並聯型搭配基座升降式之裝置作為主要設計研究之目標，其研究內容包刮了機構設計，動力系統設計與控制軟體開發。在設計完成後將部分零件已3D列印方式印製，印製完成將各總零件依照設計規格組裝，組裝完成後搭配上已開發完成之控制軟體已可達到用動之目的，接著測試機構之精準度及誤差量，以程式控制做誤差補償，達到精準度提升之目的。此研究完成後再未來將可加入紅外線檢測，做機構自主性的定位，以及加入視覺系統達成完全自動化之機構。

關鍵字

SCARA ；並聯機器人； 3D列印

並列摘要

Automation industry to increase production, yield and stability and reduce labor cost. Robots have been widely used in place of a human arm. In this context .The main purpose development of industrial SCARA robot is usually used in assembly line repeated movement. In the article. In the form of parallel lift arm with parallel use. The study included scraping mechanical design power system design and control software. After the design is assembled will be assembled according to design specifications. We has developed a set of error compensation control software has been used for this purpose after assembly. To test equipment and the amount of movement to achieve the control procedures do precision. About accuracy propaganda error the purpose of. The study will increase after the completion of future infrared detection so that the institution of independent positioning and to add a fully automatic vision systems. Will be automated equipment.