本研究主要目的是結合XYZ三軸平台與機械式夾爪，在PC-based控制環境下，組成一套簡單的搬運及組裝系統；以夾取模式搬運不同物品以及完成組裝配置。
首先，由XYZ三軸平台將夾爪移至於抓取物位置，夾取物品同時進行力量控制，確保物品在搬運過程中不會因為移動導致的震動或夾持力不足而掉落。本研究使用一FSR壓阻式力量感測器偵測夾爪接觸力，藉此判斷夾持物件滑動與否，作為提升或減少夾持力的依據；另機械式夾爪配合一兩相四線式步進馬達進行寶特瓶身與瓶蓋的裝配。經由FSR力量感測器確定夾片夾持力達目標值且無滑動現象，步進馬達開始帶動夾爪轉動，並進行兩階段的夾持力控制，當瓶身與瓶蓋旋緊時，滑動產生、FSR偵測力量改變，表示瓶蓋確定旋緊。
控制器方面分別對三軸平台定位與夾爪的力量及位置控制，採用強健性高且不需要系統模型的模糊滑動控制器(FSMC)、基本模糊控制器(FLC)以及比例-微分(PD)控制器，進行各項訊號偵測及智慧型決策。

In this thesis, a mechanical gripper is combined with the X-Y-Z table to work as a pick-and-place assembly system. PC-based control structure is established to control the Y-Z plane plant motion, the gripper grasping and rotation motion through Peripheral Component Interconnect card. The gripper has built in force sensitive resistor sensor (FSR) to monitor the grasping force. A stepping motor is chosen to control the gripper rotational motion.
PD controller, Fuzzy logic controller (FLC) and fuzzy sliding mode controller (FSMC) are employed to design the trajectory tracking control law for each axis of the X-Y-Z table. After the table reaching the target position, the control system is switched into mechanical gripper operation control. FSR force sensor is used to detect the grasping force and the slipping between gripper and object. For the bottle cap tightening application, the mechanical gripper was moved to the specified position for grabbing the cap by X-Y-Z table motion, and then move to the cap assemble position. The Z axis and stepping motor were moving simultaneously to screw the cap into the top screw of a bottle. According to practical operation situation, the grasping force should be designed to two steps for cap picking and fastening, respectively. FSMC controller is designed to monitor the grasping force based on FSR feedback information.

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