2019-01-012024-05-13https://scholars.lib.ntu.edu.tw/handle/123456789/652561摘要：本計劃以設計、分析的方法探討智慧機械的準度提昇方案，而不確定因素是影響智慧機械運行精準度的重要來源，我們針對垂直多關節機械手臂提出一套評估不確定因素與改善作業方法之策略以提升機械手臂精準度。建構結合不確定因素之機械手臂動態模型，在垂直多關節機械手臂的部分，考量各關節諧波齒輪之傳動誤差、關節間隙與關節磨耗。接著經由實際量測識別針對垂直多關節機械手臂關節內諧波齒輪之不確定因素量值，再經由這些識別的參數進行特定路經之路經參數以及工作空間最佳化。並反覆執行同一個目標路徑，了解機械手臂隨使用時間增加而關節間隙值之變化，並探討對其性能之影響，再利用磨耗後的結果進行路徑參數以及工作空間最佳化。以上之工作流程將以應用於抓取搬運產線製程之垂直多關節機械手臂做演示及討論，並根據 ISO 9283 性能指標量化分析可靠度以及針對單目標及多目標最佳化之結果，評估本計劃方法能有效提高機械手臂之準確度。<br> Abstract: This study presents a method to improve smart machine accuracy by predicting uncertainty from the trajectory of manipulators. Uncertainty in smart machine is a fundamental source of inaccuracy. We focus on the vertical manipulator and derive the dynamic models of manipulators with uncertainty. Transmission error of harmonic drives, joint clearance and joint wear were considered. For vertical articulated robot manipulators, the values of uncertainty in harmonic drives of joints through real measurement. After input these identified values of uncertainty parameters into the model, optimization of path parameters and workspace for a specific path can be proceeded. This study applies the research procedure into the vertical articulated robot manipulator which is responsible for handling and picking tasks. The simulation results imply the accuracy of the processes can be improved via the single-objective and multi-objective optimization and the quantification and estimation of ISO 9283 performance criteria.智慧製造虛實系統不確定因素模型失效分析可靠度驗證Intelligent manufacturingcyber-physical systemuncertainty modelingfailure analysisreliability assessment