以虛擬製造模擬靜電噴塗工件之機器手臂路徑規劃

Robot Path Planning in Virtual Manufacturing for the Electrostatic Powder Painting Process

李謙業(Chien-Yeh Li)

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(2018年)

摘要

運用機器智能規劃自動化生產之動作乃為工業4.0中之重要議題，對於人員操作有害之製程尤應以機器手臂替代之。其中，靜電粉體塗佈之製造過程若對比於溶劑式塗料噴塗，因沒有化學溶劑之揮發而對環境較為友善，但對操作人員之呼吸仍有極大影響，且會直接影響工作品質。
本研究運用虛擬製造之理念，藉由數位式3D模擬機構來表述實體工作環境，規劃實境機器手臂全等模型之空間動作，使執行輸送帶吊掛式混線生產之靜電粉體噴塗操作。首先將工件表面以3D Voronoi小切割面表述，再規劃出等速輸送條件下之噴塗路徑使及時涵蓋工件，再將此路徑分割出許多空間噴塗點以直線線段逼近，且令機器手臂執行逆向運動，藉由連接噴塗點來完成噴塗動作。過程中仍可演算微調噴塗點位置及行進速度，使提升噴塗品質及連貫機器動作。實作方面，將以虛擬實境軟體Unity建構虛擬環境，模擬YASKAWA機器手臂作噴塗並測試三款工件，以驗證研究之實用程度。
關鍵字：機器手臂路徑規劃、靜電粉體噴塗、虛擬製造

關鍵字

機器手臂路徑規劃 ； 靜電粉體噴塗 ； 虛擬製造

並列摘要

Planning automatic process via machine intelligence has been a crucial task in Industry 4.0 production. The advancement is especially necessary for those processes that are harmful to the workers or to the environment. Among which, the electrostatic powder painting process is one that is friendly to the environment but harmful to the manual operators. Consequently, the quality of the process will be impaired. In this research, the concept of virtual manufacturing is implemented to automatically plan a painting path for an industrial robot through a 3D virtual representation of the painting facility with conveyor and mixed parts. The method first decomposes part surface into connected Voronoi polygons, then find a path of polygons for a spray gun to travel so that the part can be evenly covered with painting. This 3D path is then approximated by linked segments and carried out by the robot with inverse kinematics. The path can still be incrementally adjusted to improve the process quality and the operation smoothness. In the implementation, Unity is used to construct the virtual environment for simulating the painting facility and a YASKAWA industrial robot.

Keywords: Robot Path Planning, Electrostatic Powder Painting, Virtual Manufacturing

並列關鍵字

Robot Path Planning ； Electrostatic Powder Painting ； Virtual Manufacturing

參考文獻

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