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http://ir.hust.edu.tw/dspace/handle/310993100/2271
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| 題名: | 多軸機器手臂運動模擬與監控
Motion simulation and condition monitoring of the multi-axis robot arm |
| 作者: | 林超翌 |
| 貢獻者: | 精密機械與製造科技研究所 |
| 關鍵詞: | 機器手臂
運動控制
LabVIE |
| 日期: | 2011-01
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| 上傳時間: | 2011-05-23T09:19:47Z
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| 摘要: | 本文採用 PC-BASED 方式來作多軸機器手臂的運動模擬與監控，利用LabVIEW圖控軟體撰寫具有監控與模擬功能之人機監控介面，透過RS232通訊協定經由 LabVIEW 的 VISA 功能與機械手臂驅動器溝通來進行機器手臂的運動
控制。另外利用 SolidWorks-COSMOSMotion 的應用程式介面(API)，將機器手臂之軌跡規劃的結果驅使 RV-M1 五軸機器手臂原型作機構運動模擬。本人機介面也具有CAD繪圖的基本功能，能讓機器手臂依規劃軌跡作動，最後實作驗證本人機介面可在多軸機器手臂上進行運動模擬與監控之應用。
In this paper, the HMI (Human Machine Interface) for MITSUBSHI RV-M1 5-jointed robot arm is studied and developed by LABVIEW graphic software. Based on CAD and Motion functions of the HMI, the trajectories of robot arm are planned and controlled. In manipulation steps: 1. the trajectories are designed through HMI, 2. The CAD trajectories are transferred to robot command by HMI, 3. HMI and Driver unit for robot arm are communicated by RS232 and the robot arm is actuated . Finally ,In addition ,the virtual robot arm is constructed by Solidworks sofeware and then simulated by COSMOSMotion-LabVIEW modules , we make a practical 2D star-liked contour is as an example and the movement of the request path is actually achieved by HMI. |
| 描述: | 指導教授：陳恒輝 |
| 顯示於類別: | [機械工程系(含精密機械與製造科技碩士班)] 學位論文
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