- 學位論文
六軸機械手臂數控鑽削程式開發之研究
Development of 6-Axis Robot Manipulator Numerical Control Drilling Program
摘要
近幾年來世界各知名機械手臂大廠開始以六軸關節型機械手臂取代電腦數值控制機台，並以電腦輔助製造加工為發展目標，相較於一般三軸及五軸數控工具機而言，六軸關節型機械手臂擁有更大的自由度且也能更容易地加工大型工件和執行各類型切削工作。由於傳統規劃機械手臂路徑，多以教導式為主，但當工件形狀複雜時，此種方式反而耗時且效率較差，雖然使用商用軟體可方便的規劃機械手臂路徑，並產生對應的數控程式，但其價格昂貴，因此如何有效率且正確地發展出機械手臂數控程式有其必要性。 本論文主要是以Staubli TX60型機械手臂做為參考用六軸關節型機械手臂，並利用Denavit-Hartenberg表示法，制訂出機械手臂之座標系統，進而推導出機械手臂正向運動學及逆向運動學公式，再利用C++ Builder 6撰寫程式介面，將電腦輔助製造軟體NX7.5所產生的刀具路徑檔案，轉換為控制機械手臂六個旋轉軸運動的數控程式。 最後本文透過STAUBLI3DStudio模擬器以及商用機械手臂軟體SprutCAM，驗證所發展的機械手臂數控程式演算法的正確性。
並列摘要
In recent years, many world famous robot factories have replaced the CNC machine tool with six-axis joint robot manipulator to implement the computer-aided manufacturing processing. Compared with the conventional three and five-axis numerically-controlled machine tools, the six-axis joint robot manipulator has larger degree of freedom and can also easily process large work pieces and execute various cutting work. Most of the programming path of the traditionally robot manipulators are dominated by teaching mode, so in case of complicated shape of work pieces, such a method will consume more time with a poor efficiency. Although the commercial software can be used to plan the robot moving path conveniently and generate the corresponding numerical control program, but it is expensive. Therefore, it is necessary on how to develop a robot manipulator control program efficiently and correctly. In this paper, the Staubli TX60-type robot manipulator is used as a reference, and the Denavit-Hartenberg expression method is used to establish the coordinate system of the robot manipulator so that the forward and reverse kinematics can be derived. Moreover, this study developed the conversion interface using C++ Builder 6 which can transform the tool path file generated by the computer-aided manufacturing software NX7.5 to the six-axis robot manipulator numerical control program. Finally, through STAUBLI 3D Studio simulator and commercial robot software SprutCAM, the correctness of the developed robot manipulator numerical control drilling program is verified.