自動化粉體靜電噴塗機構之虛擬模擬器研究

Automatic Process Planning for Electrostatic Powder Painting Using VR-based Simulator

黃聖坤(Sheng-Kung Haung)

指導教授 ： 鄭宗明

朝陽科技大學/理工學院/工業工程與管理系/碩士(2011年)

摘要

靜電粉體塗裝之製造程序中，粉體流量與靜電間存在著細微之關連，若流量過大則粉體不易附著，倘靜電過高則潛在危害工作者。當今多數粉體塗裝業者皆採用人工操作，以技術經驗來平衡流量與靜電。但人工操作之粉體掉落量不易掌握，且粉體的乾淨回收率不佳。加上工件造型的多樣性及人工技術不均，使整體製程經濟之無效成本偏高。
本研究中，便將噴塗機構設置於虛擬環境中，先令噴塗路徑依據工件造型計算產生，再使用虛擬噴塗技術，即時量度虛擬粉末之掉落量及附著量，動態調整虛擬噴槍之行進速度與粉體流量。再將模擬完成之移動路徑提供實體噴塗機構之參考使用。然而噴塗路徑亦可在虛擬噴塗機構中以手控式互動裝置依目視直覺產生，若手動路徑通過虛擬機構的粉體效能與工件品質測試，亦可採用為機器手臂之實際工作路徑。

關鍵字

虛擬實境 ； 虛擬噴漆 ； 靜電粉體塗裝 ； 工業機器人

並列摘要

In the process of electrostatic powder painting, powder rate and static are tuned to a fine balance, or the powder may not properly be adsorbed. Therefore, current productions are mostly carried out by human workers to adept the delicacy. However, the amount of unabsorbed powders is skill depending, and the clean recycle rate of the powders is scarce, plus, the shape diversity of the workparts and the hard acquirement of skillful workers, together
have made the production less economic.
This research develops a virtual reality based simulator, in which a virtual counterpart of the painting setup is established and a virtual painting mechanism is built to emulate the spray paint process. The spray gun tool paths are analytically created by the part geometry, and the powder accumulated and unabsorbed rates are digitally calculated along the tool path in the virtual environment to adjust the moving speed and powder discharges. The VR approved tool paths are then be adopted by the production facility. The paths can also be created on-line by intuitive hand operations through visual interaction with a 3D space pointer or haptic device to get realtime approval and skill training.

並列關鍵字

Flatten Topology ； Automatic Process Planning ； Electrostatic Powder Painting ； Path Planning

參考文獻

Antonio, J., “Optimal trajectory planning for spray coating,” IEEE International Conference on Robotics and Automation, pp. 2570-2577

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