Development of a Six-Axis Robot and Combination of the Robot andMachine Visions for the classification of color parts

• Main Authors: WEI, HONG-YU, 魏宏諭
• Other Authors: TSAI CHI-SHENG
• Format: Others
• Language: zh-TW
• Published: 2018
• Online Access: http://ndltd.ncl.edu.tw/handle/sn7rn3

碩士 === 建國科技大學 === 自動化工程系暨機電光系統研究所 === 106 === In recent years, the application of six-axis robots with machine visions for automatic detection, feeding, and assembling becomes growing up. With the development of automation, the demand of combination of robots and the machine visions system has been increased and has far-reaching impact on the future development of the industry. Therefore, the purposes of this study are to develop a six-axis robot with machine visions for the application of different color parts classification, to increase production capacity and to improve product quality. For the development of 6-axis robot in this study, the SolidWorks is firstly used to design and draw the mechanical components and the assembly. The components are processed following the design drawings by the professional manufactures. Then, the robot is assembled with the LNC controller, servo motors, and Liming reducers, The assembled robot is tested. The results show that the performance is not inferior to similar industrial robots. For the development of machine visions, the images are captured by the camera. The shape and color of the parts are distinguished from images by way of inspector Express. This developed system can be monitored in real time, the performances of the six-axis robots and machine visions system, show up immediately, such as: position of end-effector, results of recognition etc. The test objects three shapes of ball, square and triangle four color of red, yellow, blue and green each shape. They are totally 12 combinations. The developed system is tested to carry out the classification of the 12 combinations. The results show that the accuracy rate is around 100%.