| Summary: | 碩士 === 國立高雄應用科技大學 === 機械與精密工程研究所 === 104 === This Master Thesis is mainly to research and develop a Follow the Rail's Spray Coating system. We develop a Follow the Rail Car collocation a Articulated robot and spray equipment become a Spray Coating System. When car follow the production line, we use the follow the rail car let the material turn to appropriate space when the Articulated robot need, and collocation network communication, let systems have Internet of Things(IoT) concept and remote monitor and control. Finally, we will complete exploitation of the hardware and software.
We use the aluminum alloy material to machining on most of car's mechanisms, and use the ball bearing as wheels to fix and follow the rail in car internal. About the turning mechanism, we use the bevel gear and pulley to turn the material. Part of control, when the production line is moving in, we can according to the values of frequency converter to change the car's following speed. The information of material space's rotation angle will be converted to control command of motor. Finally, the car will turning the material space's rotation angle to assign angle by trajectory tracking control. The communication, we use User Datagram Protocol(UDP) to achieve IoT for the Articulated robot, Follow the Rail Car and remote monitor and control.
This paper uses C++/CLI program language to achieve car motion control and UDP, this program can be divide into User Interface, monitor and control Interface; Follow the Rail Car's system will turning immediate when the Articulated robot command it, and the remote for computer can also understand operating state and save it immediate.
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