The Design of a Laser Light Planar Guidance Mechanism

• Main Authors: Chan Ching-Hsiang, 詹景翔
• Other Authors: Tsai, Ming-June
• Format: Others
• Language: zh-TW
• Published: 1999
• Online Access: http://ndltd.ncl.edu.tw/handle/62516051468222284542

碩士 === 國立成功大學 === 機械工程學系 === 87 === The goal of planar guidance in the 3-D space is to guide a planar rigid body to fulfill a required motion. The planar guidance is very useful in many industrial applications. Typical examples include the wafer transfer by a robot, Laser scanning, tile sticking, brushing a wall, and pick and place of a symmetric object,…etc. The purpose of this study is to develop a guiding mechanism for a line shaped Laser used in a machine vision system. Theoretically, a three degrees of freedom robot can guide the laser light plane to any specified position in the space. Based on the analysis of motion freedom, the kinematic chain for planar guidance can be found by typical kinematical synthesis process. The design of the mechanism is completed by mechanical design. The Tool assembly orientation is then discussed. Position and velocity problem of the mechanism is solved according to different type of tool helding. The singularity of this mechanism is also discussed. In the vision system, the laser light is to be projected on a point with desired direction in the image plane. We then transfer the coordinates of the point and direction to the world coordinates. A path planar is formulated in the image plane for the laser light to transfer from one position to another positions. The computer interface is established and software is developed for the control of the mechanism. Experiment shows that the result for planar guidance is reasonable but can be improved further.