| Summary: | 碩士 === 建國科技大學 === 自動化工程系暨機電光系統研究所 === 107 === The development of robots is more than half a century. However, most of applications focus on the handling of objects. Recently, multi-axis articulated robots have been widely applied. For example: painting, welding, deburring, polishing, casting etc. If the machine visions are integrated with the robots, the functions will improve a lot. Such as: detection of color, shape and position, as well as inspection of the parts defects. However, these applications only focus on the solid objects. The researches for liquid objects are few. Thus, the purpose of this thesis is to develop a smart casting system focus on the metal liquids.
The developed smart casting system consists of a DIY six-axis robotic arm, electric Gripper, machine vision modules, the sensors of weigh, etc. The control console and human-machine-interface (HMI) of the system are conduct with LabVIEW. The operation of the system starts with inputting the required conditions and collecting the weight of the beaker measured with the sensors of weigh as well as the position of casting mould detected with machine vision modules. Then, start to let robotic arm working for casting. In the processes of casting, the information of the weight feedback at all times from the sensors of weigh to keep the casting system stable.
There are two tests in this system. The first is the repeatability test, input a fixed weight of 70g and the system runs 10 times repeatedly. The results show that the casting weight is 69.8g in average and the deviation is 0.6g. The second is the precision test, input the different weight every time and the system runs 10 times. The results show that the deviation is 0.6g.
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