利用互通系統計算法設計並實作機械手臂型製造單元之監控器

Abstract

本論文中提出以互通系統計算法做為對位於國立交通大學生產自動化中心 的機械手臂型製造單元制定製造協定規格的數學工具。基本上通訊協定是 被發展為在網路系統中協調通訊裝置之間的電子訊號用的。然而若是將自 動化製造系統中的在製品、物流輸送系統、製造設備分別對映到網路系統 中的資料、網路、通訊裝置，則可以針對一已知的自動化製造系統，設計 一個製造協定來協調此系統中的不同製造設備之間的交互動作。以上述的 機械手臂型製造單元為例，機械手臂可視同乙太網路架構中需要被共享的 資源，而製造協定的規格制定則是以主從式模型作為參考依據，在製造單 元的生產績效方面則是以時間視窗法來評估。由於是利用互通系統計算法 為數學工具，故本研究中以ISO IS 8807 LOTOS, SMILE, LOLA等軟體為規 範測試的工具。 Calculus of communicating systems (CCS) is proposed as a mathematicaltool to specify the manufacturing protocol of a robotic manufacturingcell at Production System Automated Research Center in NCTU. Basically communication protocols have been developed for coordinating electronic signals of network-integrated communicatingdevices. If the WIPs, transportation system, manufacturing devices inautomated manufacturing system are treated as the data, network, communicating devices in computer network system respectively, then amanufacturing protocol can be designed for coordinating the interactions among devices in the given automated manufacturing system. For the underlying robotic manufacturing system, the robot isan Ethernet-like shared resource; the client-server model is chosen as the manufacturing protocol; the performance is evaluated through time window method. Because of the CCS approach, ISO IS 8807 LOTOS,SMILE, and LOLA are selected as the conformance testing tools.