靜電噴塗之5-DOF機器手臂路徑規劃研究

Path Planning for 5-DOF Robot in Electrostatic Powder Painting

蕭嘉文(Jia-wen Xiao)

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(2012年)

摘要

工業上常見的溶劑式噴塗作業，過程中包含化學溶劑的揮發，容易造成人體與環境的傷害。近年來許多國家開始注重環境保護，因而訂定相關的法規限制這一類製程溶劑的排放。擁有幾乎無化學揮發性質的「靜電粉體噴塗技術」於是漸漸取代舊式噴塗作業，成為產業未來之發展方向。靜電粉體噴塗乃利用靜電效應使粉狀塗料吸附於工件表面，之後再作高溫烘烤使塗料融解包覆工件。其特質在於未吸附之粉體若未遭受污染，將可回收重新使用，達到經濟又無化劑汙染之目標。唯目前業者仍多採手動噴塗，依靠經驗或直覺方式來執行。業者認為使用手工可以適應多樣化的工件造型，成本也較為低廉。但畢竟人工施作之品質不易掌握，效能也不穩定。於是本研究建議使用兩支五個自由度(5 Degree-of- freedom, 5-DOF)機器手臂來做噴塗，即可涵蓋工件之每個角落。研究將採工業仿真方式運用虛擬實境技術，透過虛擬機構互動演算噴塗均勻度、粉體浪費量、及路徑長度以測試噴塗效能，並規劃出可採用機器手臂施作之實境工作路徑。

關鍵字

虛擬噴漆 ； 虛擬實境 ； 工業機器人 ； 靜電粉靜電粉體塗裝

並列摘要

Painting with chemical solution is notorious for its pollution nature. More are in favor of electrostatic powder painting technique for it hardly emits any harmful ingredient into the atmosphere. Based on current acknowledgement of the environment status, strict laws and treaty have been signed world wide to avoid more chemical pollution. The electrostatic powder painting technique takes two steps to accomplish a process, a static powder adhering process and a curing process. The curing is a heat treating process that is somewhat easier to manipulate for a homogenous outcome, while the adhering process is more sophisticated than just covering up a product with powders. Wastes may happen when careless operations are applied. In fact, the quality and efficient of the whole process may solely rely on a well defined paint path.
More industry managers select manual operations to carry out the painting process for they believe the human hands are dexterous enough to adapt the versatile part shapes and are less expensive to hire. That assumption contradicts the results that the process inefficiencies are all from the malpractices of the paint paths. Therefore, this research propose well planned path with 5-DOF robots. In the dual, paths are generated based on part geometry and certain electrostatic behaviors, and then the robot may adapt a path by its joint parameters. Surface coverage, total waste, and path length are the criteria for adjusting the path generating plan. Then the iterative planning processes are performed in a virtual environment that emulates the real facilities. The results showed that the virtual facilities is effective, thus the product quality and production efficiency of an electrostatic painting process can be digitally controlled.

並列關鍵字

Automatic Process Planning ； FlattenTopology ； Path Planning ； Electrostatic Powder Painting

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