並聯式機械手臂(Delta Robot)有著高速、高剛性及高精度之特性,與六軸機械手臂相比,更適合應用在包裝及撿料相關的簡易動作,搭配機械視覺的機械手臂常用於製造業的產品包裝及不良品之挑選,藉由機械視覺的導入,可降低人員誤判及提升生產速度,以達到生產效率最佳化。 本研究主旨是以三軸並聯式機械手臂(Delta Robot)搭配機械視覺辨識之開發。本研究設備是以台達電ASDA-A2-E(EtherCAT)作為馬達驅動器,將手臂結合RGB-D攝影機取像後,利用軟性夾爪將物件夾取並放置輸送帶傳輸至下一定點,藉由EtherCAT驅動器之特性,EtherCAT訊號傳輸是幾乎沒有延遲性之問題,且相對穩定。 軟體方面是利用Visual Studio C#來撰寫人機控制介面,使用RGB-D攝影機搭配Python OpenCV函式庫取出物件座標,並將其座標自動傳輸至C#人機控制介面操作機械手臂,讓手臂自動完成指定任務。
Delta Robot has the characteristics of high speed, high rigidity and high precision. Compared with the six-axis robot, it is more suitable for simple movements related to packaging and material picking, and the robot arm with mechanical vision is often used in the manufacturing industry for product packaging and selection of defective products. The main objective of this research is to develop a three-axis parallel robot (Delta Robot) with mechanical vision recognition. The research equipment uses Delta ASDA-A2-E (EtherCAT) as the motor driver. After the arm is combined with an RGB-D camera to take images, the soft gripper is used to pick up the object and place it on a conveyor belt to the next point. The software uses Visual Studio C# to write the human-machine control interface. The RGB-D camera and Python OpenCV library are used to retrieve the object coordinates and automatically transfer them to the C# human-machine control interface to operate the robot arm, allowing the arm to complete the specified tasks automatically.