鑽削加工是目前製造業中最常見到的金屬切削製程之一，在需要高精密度且
大量鑽孔需求的應用中(如印刷電路板製作以及飛機組裝加工過程)，若是使用人
力進行鑽孔作業很容易造成加工品質的不穩定，同時難以勝任大量的鑽孔工作，
此為目前製造業需實現自動化鑽削的主要原因。為此本研究提出首套基於串聯式
彈性致動器的自動鑽削系統，使用串聯式彈性致動器的優點為不需安裝力量感測
器就能達成力量控制，並能將力量控制問題轉化為位置控制問題，簡化控制的複
雜程度，系統並同時結合吸附模組，使其能在不同位置與角度的工件下進行自動
鑽削作業。鑽削加工過程中提升加工面品質的兩大因素，第一為避免鑽頭接觸工
件表面瞬間所產生的衝擊力道，再者是為在鑽孔時維持一固定軸向切削力進行鑽
削加工。為了達成上述所提到的理想切削行為，本研究結合位置與力量控制的優
點，提出控制器切換策略應用於自動化鑽孔作業中，在獲得良好的加工面品質之
餘提升加工效率。最後量測系統於不同的控制器與鑽削條件下鑽孔的加工面品質，
量化與建立其品質評量指標，藉此找出本系統合適的鑽削條件，驗證所提出之自
動鑽削系統的可行性。

Drilling is the most popular metal cutting process in manufacturing industry (e.g., printed circuit board or aircraft assembly). However, it is difficult to achieve high quality drilling and mass production at the same time if relying on manual drilling. Therefore, the development of drill automation technology has become more and more crucial in recent years. This study presents the design and implementation of an automatic drilling system based on the concept of series elastic actuator (SEA). One advantage of using SEA for the current system design is the exemption from installing high cost force sensors for force control implementation. The force based control system has been transformed to a position based control system by adding the elastic components to the driven actuator and the environmental load. A magnetic adhesion module is included into our drilling system so that this system can handle workpiece drilling at different positions or inclined angles. There are two principal issues that should be considered during drilling process. The first one is to avoid the impact force generated at the moment the drill bit makes contact with the workpiece surface. The second one is the requirement of maintaining constant thrust force during the drilling process. To effectively address the issues mentioned above, this research presents a position/force switching control strategy to improve the drilling surface quality and drilling efficiency. Finally, the machined quality of the holes drilled by using different control strategies and drilling conditions are evaluated by measuring the surface roughness of the holes. Based on this drilling performance index, proper drilling conditions of the system can be found and the experiments justify the feasibility of the prototype of our proposed automatic drilling system.

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