為了降低人力成本並提高產能，產業界已廣泛地運用機械手臂，然而機器手臂運動過程難免會有誤差，過大的誤差將導致任務無法達成。為了確保機械手臂運動、定位精度，產線必須週期性的停機校正，而此舉必然會降低產能。倘若能將機械手臂的可容許定位誤差放大，則可望降低停機校正的頻率。針對機械手臂用於螺絲鎖附的任務，本研究提出一種新創的裝置設計概念，其具備螺孔探測、螺絲放置以及螺絲鎖附的功能。此裝置藉由導螺桿、六連桿機構以及彈簧觸發機構達成所設計之功能。其中用於螺孔位置探測與螺絲放置的六連桿機構，藉由向量迴路法進行分析，其結果顯示沿工作平面的位置誤差小於0.01毫米。並以電腦輔助模擬檢驗其理論分析結果。此裝置能以單純的機構運動放大機械手臂的可容許誤差，避免使用價格高昂的力量感測器，並且降低產線停機校正機械手臂的頻率。

In recent years, robotic arms are widely used in manufacturing plants, assembly plants and other industries for various repetitive tasks in order to reduce labor costs and improve productivity and quality where errors inevitably occur in the process. Excessive errors may lead to task failure. In order to ensure the repeatability in process, the robot manipulators generally have to be calibrated after a production period. If the allowable position error of the manipulator can be increased, the lower frequency of stopping the production line for correcting and higher efficiency can be achieved.
In this study, an innovative device is developed with the functions of hole detecting, screw positioning and screw locking. The design concepts with a leading screw, a six-bar linkage and a spring is proposed. Then the motion analysis of screw-positioning mechanism is carried out through vector loop method, and the numerical results are approved by a computer-aid simulation. As the result, the bolt is precisely positioned at the location of the screw hole detected by a plunger, and the allowed position error of robot manipulator can be enlarged by applying this innovative device without installing expensive force sensor.

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