| Summary: | 碩士 === 國立成功大學 === 機械工程學系 === 102 === With rapid development of manufacturing techniques recently, the pursuit to increase production and reduce human resources has resulted in the addition of automatic robots, transportation equipment and robotic arm. Mechanisms of that equipment are of high degree of freedoms, and relative motions are much more complex so that it is difficult to be judged by human intuitively. Therefore, computer-aided manufacturing software were usually used to simulate before production, which can avoid accidents while machining real bodies, but can’t simulate the whole machining cell. This research has established a system with function of collision detection. That can providing a simulation of the machining cell or multi-machine before manufacturing.
This thesis proposes a data structure, based on the architecture of the class library. Searching the tree structure, construct the independent chain, and then simplification of the chain, real need to determine the impact in the chain will be obtained. Finally, use of the recursion relations will create mappings of pairs among all rods that need to be examined in the chain during the simulation. This architecture provides the user to add a new object, and can generate the collision pairs quickly. That can detect collision in process simulation. This thesis proposes the method of reducing collision detection pair. While operating programs, it can reduce the calculation time and increase efficiency. Libraries used in this thesis can construct virtual machining cells, detect collision between each object, and simulate real bodies machining.
In this thesis, simulation of the machining process, and the establishment of a number of virtual objects including the virtual machine with a virtual controller have been implemented. This thesis used actual processing program and actual controller to verify the tool path by with controller. Finally, geometrical information of milling machine (TMV-510A) and SCARA robotic arm provided by Tongtai Machine and Tool Company were imported into the developed program to demonstrate machining examples. Advantages of the proposed data structure will be presented and compared to others.
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