高爾夫桿頭脫蠟鑄造後的下一道工序就是去除澆道殘餘金屬，並將表面研磨
成光滑面。目前產業界，這項工作都是依靠人力完成。人工進行研磨，除具潛在
人體安全威脅外，人工研磨的精準度和重複性不高，造成產品品質不穩定。想利
用機械手臂的穩定動作取代人力，進行自動研磨系統，但是因為脫蠟鑄造下，桿
頭形狀具高度變異性，無法教導出的固定手臂軌跡方式進行。
本論文旨在發展智慧自動化創新技術，先使用機械手臂夾取桿 頭進行 3D 掃
描後取得包含澆道殘餘金屬的表面點雲，接者利用曲面綴合技術模擬出研磨後光
滑面的點雲，再利用分層演算法計算出需要移除部分的分層體積，再依照分層研
磨演算法得到機械手臂末端移動的研磨軌跡。
機械手臂執行的部分藉由掃描器、工件、砂 帶 機以及機械手臂的座標系轉換
算出研磨軌跡的轉移矩陣，利用正向運動學、逆向運動學得知六軸姿態。考慮到
整個系統的環境，配合掃描器、砂輪機、機械手臂，產生出合適的手臂移動姿態，
並在夾爪的上面加裝力感測器與力補償機構，能夠在研磨的時候透過力感測器接
受到的力值來進一步判斷是否過磨， 以期達到理想的研磨後圓滑表面水平。

The next process after lost-wax casting is to remove residual metal from the sprue and grind the surface to become a smooth one. At present in the industry, this work is done by people. Use manpower to grind, in addition to potential human safety threats, artificial grinding precision and repeatability is not high, and let the product quality unstably. We want to use the stable action of robot arm instead of human to carry out automatic grinding system. However, due to the high variability of golf club head shape under lost-wax casting, it cannot be defined in the way of fixed robot arm posture and trajectory to grind.
The purpose of this thesis is to develop intelligent automation innovation technology. First, use robot arm to pick up the golf head for 3D scanning and then get the surface point cloud containing the residual metal of sprue is obtained. Then, the surface point cloud is simulated by the curved surface fitting after grinding, and the layer volume of the part to be removed is calculated by the layering algorithm. Then the grinding trajectory of the end of the robot arm was obtained according to the layered grinding algorithm.
Part of executing the robot arm, the transfer matrix of the grinding trajectory is calculated by the conversion of the scanner, the workpiece, the grinder and the robot arm’s coordinate system. The six-axis attitude is obtained by the forward kinematics and the reverse kinematics. Considering the environment of the whole system, with the scanner, grinder, robot arm, to produce a suitable robot arm movement posture, and install force sensor and force compensation mechanism above the gripper. It can received the force value received through the force sensor when it was grinding, to further judge whether the over grinding is happening, in order to achieve the ideal smooth surface level after grinding.

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