本研究的目為開發一基於串聯彈性致動器所設計的工業型鉚壓模組作為印刷電路板打件機的相關應用，其中串聯式彈性致動機構固定於滑塊上，並置於位移機構的線性滑軌作定向位移，藉由線性馬達驅動滑塊快速下降，使彈性致動機構前端的沖頭沖壓置放於印刷電路板上的緊固件，如此完成整個鉚壓作業。本模組的特點為不需要再額外加裝壓力感測器做回授控制，利用讀取彈簧的壓縮曲線便可調整PID控制器參數適應不同材質緊固件的鉚壓作業，並判其鉚壓品質。實驗結果證實了此系統於緊固件鉚壓作業的可行性。

This study presents an industrial riveting module that can be applied to the assembly processes of printed circuit boards. This mechatronic system consists of a linear motor driven actuating mechanism which is fixed on a slider. By moving this slider fast enough, the punching unit attached to the front end of the actuating mechanism then punches the fasteners placed on the printed circuit board, finishing the whole riveting process. The facture of this system is that no extra force sensor is needed for force feedback control. The position feedback reading the spring deflection can be directly used to adjust the parameter values of PID controllers for force control and determine the riveting quality of the fasteners with different materials. The experimental results demonstrate the feasibility of the proposed automatic riveting system.

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