The Development of the Six-Axis Manipulator and Three-Axis Press Integrated System

• Main Authors: Ding, Ming-Jian, 丁銘建
• Other Authors: Chen,Ming-Fei
• Format: Others
• Language: zh-TW
• Published: 2018
• Online Access: http://ndltd.ncl.edu.tw/handle/aj365h

碩士 === 國立彰化師範大學 === 機電工程學系 === 106 === The features of most 3C component assembly are light weight, large quantities, higher accuracy and good product quality required and so on. Taking the relay assembly of small and medium business in Taiwan as a road map, its industrial features are large volume production and labor intensive industry too. Due to the impact of a declining birthrate and the trend of Industry 4.0, this type of industry must be fully automated or even smart is required. The purpose of this study is to integrate the six-axis Manipulator and the three-axis press using the motion control card to achieve the automated process of relay assembly. Secondly, the six-axis Manipulator kinematics model was established and the experiment was completed. The path of the robot arm is set in two modes. The first one is to change the CAD/CAM mode manually; the another one is to automatically identify the object position for path setting using machine vision. The stepping motor resolution of the three-axis press is 1.8°, and the screw lead X, Y, and Z are 6 mm, 5 mm, and 2 mm, respectively. Therefore, the X-axis positioning accuracy of the three-axis press can be calculated to be 0.03 mm, Y. The axis positioning accuracy is 0.025, the Z-axis positioning accuracy is 0.01 mm, the compression test 150 times success rate is 100%; the six-axis mechanical arm clamping test 28 times success rate is 96.03%, and the placement test 16 times success rate is 93.75%.