- 學位論文
流水線靜電粉體塗裝之4-DOF機器手臂路徑規劃研究
Path Planning for 4-DOF Robot in Transfer Line Electrostatic Powder Painting
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摘要
靜電粉體塗裝技術是近年來廣被採用的噴漆方式，其主要優點在於無化學溶劑揮發與掉落漆體容易回收之環保特質。雖然已有許多研究探討其最佳化之操作參數與設定，使用人工執行噴塗過程仍為多數業者所使用。如此之施作方式，直覺上是為了以靈巧的手藝來適應多樣的工件造型以減少成本，但實際上卻無法掌握噴塗之均勻度及因人為因素造成之未吸附粉體掉落量，間接的造成了噴塗品質不均及噴塗效能不穩定的問題。尤其在流水式噴塗環境下，行進間的工件有操作時間的壓力，以及工件晃動之問題，操作者為了遷就工件的粉體覆蓋度，往往將粉體以較浪費的方式噴灑，導致噴塗室落粉快速累積，甚至滿佈操作人員的身體。 本研究中建議以四個自由度(Degree of Freedom, DOF)之機器手臂來執行此噴塗工作，以機器動作取代人工。研究中將尋找可以適應流水速及工件外型之噴塗路徑，目標在於粉體覆蓋之均勻度及粉體掉落量之最少化。實驗中將以虛擬實境方式驗證所規劃路徑之有效性，並進一步探討適應搖晃工件之即時路徑調整機制。預計本研究將給手動操作之靜電噴塗產業，帶來革命性的施作方式，除了減少粉體之掉落量及增進工件品質外，亦可減少職業傷害，提升產業等級。
並列摘要
Electrostatic Powder Painting is an environmental friendly spray painting technique, and has gained wide acceptance recently. Researches of the technique were mainly on powder materials, air pressure, electrostatics, and particle sizes, while the operations, in the industry, are favorably manual for lowering the costs. However, in most cases, dexterous hands do not guarantee homogeneous paint quality and minimum wastes. When parts are hung on conveyors, the moving and swinging nature will make the painting process more difficult to operate. Since the parts may have various shapes, and the conveying is in constant speed, the painters often use higher powder rates and lower air rates to adapt the tasks. This will result in uneven powder thickness and more wastes. Moreover, the unattached powders may deposit all over the painter. A 4 degree-of-freedom (DOF) robot is adopted in this research to carry out the painting process. A suitable path will accommodate conveyor speed and powder/static characteristics while maintaining the painting quality of uniform coverage and minimal unattached powders. The feasibility of paths is rested in a virtual environment that mimics the conveying and swinging. It is believed that a successful research will bring revolutionary upgrade to the painting industry.
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