A Study on Intelligent Assembly by Robot Arm

• Main Authors: Chin-Hua Lin, 林稚樺
• Other Authors: 陳澤民
• Format: Others
• Language: zh-TW
• Published: 2016
• Online Access: http://ndltd.ncl.edu.tw/handle/qzpg6u

碩士 === 國立中興大學 === 生物產業機電工程學系所 === 105 === In the process of robots development, the robot could be imputed by specific path and followed the program to achieve a particular purpose; therefore, it was widely used to weld, spray, process, and transport object. With the great advancement of technology and the development of sensors, the working role of robot is gradually change from assistance into completely replacement of labor. Intelligent assembly is the indispensable part of this revolutionary change. When assembling, it takes precision very seriously. The old method of assembly, which used camera with image processing technology, not only limited by complicated processing course, but also easily affected by environmental lighting, and the cost is quite expensive as well. This research use laser rangefinder as sensor of robot. The advantage of laser rangefinder is it has relatively stable characteristic under environmental lighting and the data it collects is easy to process. We combine laser rangefinder with object’s traits to finish the work of intelligent assembly. Besides, this research utilizes LabVIEW to integrate sensor and the robot control system, and uses robot movement to collocate 2D laser rangefinder to accomplish the purpose of searching 3D holes and automatic assembling.