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System No. U0002-1209202117544400
Title (in Chinese) 數位孿生於機械手臂取放料虛實整合之研究
Title (in English) Study of Digital Twin in Virtual and Real Robot Arm Picking and Placing
Other Title
Institution 淡江大學
Department (in Chinese) 機械與機電工程學系碩士班
Department (in English) Department of Mechanical and Electro-Mechanical Engineering
Other Division
Other Division Name
Other Department/Institution
Academic Year 109
Semester 2
PublicationYear 110
Author's name (in Chinese) 楊佳儒
Author's name(in English) Chia-Ju Yang
Student ID 608370184
Degree 碩士
Language Traditional Chinese
Other Language
Date of Oral Defense 2021-07-15
Pagination 50page
Committee Member advisor - 楊智旭
co-chair - 陳昱均
co-chair - 陳冠辰
Keyword (inChinese) 數位孿生
OPC UA
PLC
DELTA
Visual Components(VC)
Keyword (in English) Digital twin
OPC UA
PLC
DELTA
Visual Components(VC)
Other Keywords
Subject
Abstract (in Chinese)
本論文以數位孿生作為工業4.0中新穎技術之研究,數位孿生是一種虛實整合應用技術,將實體製造設備與虛擬數位模型連接在一起,透過分析數據和監控系統,預測設備何時將發生重大故障問題,可以防止工廠停機,開發新製程,甚至使用相關數據模擬規劃未來。
    數位孿生是透過通訊協定OPC UA (Open Platform Communications Unified Architecture)開發的技術。OPC UA是用於工業自動化的通訊規範,而此規範是公開且免費,應用在設備上無需授權費,且它的優點在於具備跨平台,不受限於特定作業系統或程式語言,在安全方面也涵蓋認證、授權以及加密的資料整合性。
    本研究目標是以台灣台達電子工業股份有限公司的工業手臂’DELTA _DRS40L’做為數位孿生技術的應用,在模擬軟體部分選用Visual Components ,是開發虛擬數位模型的最佳軟體,其中使用 OPC UA 服務器在整個工作過程中共享數據,最終成功地將虛擬與物理的關係建立,達成機械手臂於虛實整合的技術。
Abstract (in English)
This paper uses Digital twin as a novel technology research in Industry 4.0. Digital twins is a virtual-real integration application technology that connects physical manufacturing equipment with virtual digital models. Through data analysis and monitoring systems, it can predict when a major failure of the equipment will occur. We can prevent plant shutdowns, develop new processes, and even use relevant data to simulate and plan for the future.
  Digital twin is a technology developed through the communication protocol OPC UA (Open Platform Communications Unified Architecture). OPC UA is a communication specification for industrial automation. This specification is open and free. It does not require license fees when applied to the device. It has the advantage of being cross-platform, not limited to a specific operating system or programming language, and in terms of security. It also covers the integration of authentication, authorization, and encryption.
  The goal of this research is to use the industrial arm’ DELTA DRS40L’ of Taiwan DELTA Electronics Industry Co., Ltd. as the application of digital twin technology. Visual Components are selected in the simulation software part, which is the best software for developing virtual digital models. Among them, OPC UA is used. The server shares data throughout the work process, and establishes the relationship between virtual and physical. Finally it achieves a technology that integrates the virtual and real robotic arm.
Other Abstract
Table of Content (with Page Number)
誌 謝	I
摘 要	II
Abstract	III
目錄	V
圖目錄	VII
表目錄	IX
Chapter 1 緒論	1
1.1	前言	1
1.2	文獻探討	1
1.2.1	工業4.0	1
1.2.2	數位孿生Digital Twins	4
1.2.3	工業機械手臂	6
1.2.4	虛實融合系統	8
1.2.5	可程式化邏輯控制器	9
1.2.6	模擬軟體	10
1.3	研究動機與目的	11
1.4	論文架構	12
Chapter 2 研究理論	14
2.1	通訊協定	15
2.1.1	OPC	15
2.1.2	OPC UA	15
2.2	模擬軟體Visual Components    17
2.3	機械手臂運動學	            18
2.4	DELTA Robot 基礎設置	    20
Chapter 3 研究方法	            22
3.1	研究步驟	                    22
3.2	軟體選定	23
3.3	虛擬布局建立	24
3.4	硬體架設	25
3.5	實際佈局建置	27
3.6	通訊協定建立	28
3.6.1	建立OPC Server	28
3.6.2	建立OPC UA 連線	34
Chapter 4 研究結果	39
4.1	實際案例	39
4.2	數位孿生於VC效果	45
Chapter 5 結論	47
參考文獻	48
圖目錄
圖1 1 工業革命時代推演[1]	2
圖1 2 工業4.0的八大價值動機及因素[3]	3
圖1-3 模擬技術的發展推演	4
圖1-4 數位孿生概念	5
圖1-5 FANUC工業手臂	7
圖1-6 虛實融合系統架構[9]	8
圖1-7 可程式化邏輯控制器	10
圖1-8模擬軟體示意圖	11
圖2-1 OPC UA 架構圖[13]	14
圖2-2 OPC UA Client/Server架構圖[17]	16
圖2-3 Visual Components 操作介面	18
圖2-4 SCARA 機械手臂上視圖[22]	19
圖2-5 DRAStudio軟體介面	21
圖3-1實驗步驟流程圖	23
圖3-2虛擬布局圖	24
圖3-3 DCS機器人控制器連接定義說明	25
圖3-5實體設備佈局圖	28
圖3-6 MatrikonOPC Server操作介面	29
圖3-7 MatrikonOPC Server建立Server	30
圖3-8三菱PLC階梯圖	31
圖3-9 MatrikonOPC Server建立TAG	32
圖3-10 MatrikonOPC Server TAG連線狀態確認	32
圖3-11 MatrikonOPC Server設定TAG類型	33
圖3-12 MatrikonOPC Server設定完成	34
圖3-13 Matrikon OPC UA Wrapper操作介面	35
圖3-14 Matrikon OPC UA Wrapper 連線Server	35
圖3-15 Matrikon OPC UA Wrapper 設定Server讀取介面	36
圖3-16 Visual Components 新增Server	36
圖3-17 Visual Components Server 連線測試	37
圖3-18 Matrikon OPC UA Wrapper連線成功	38
圖3-19 Visual Components 參數連結	38
圖4-1 手臂取料點(T1)-虛擬	39
圖4-2 手臂取料點(T1)-VC訊號狀態	40
圖4-3 手臂取料點(T1)-實體	41
圖4-4 手臂放料預備點(T2)-虛擬	41
圖4-5 手臂取料點(T2)-VC訊號狀態	42
圖4-6 手臂放料預備點(T2)-實體	43
圖4-7 手臂中繼點(Auto)-VC	43
圖4-9手臂中繼點(Auto)-實體	45
圖4-7 機械手臂訊號於VC成果	46
表目錄
表2-1 DRAStudio 系統需求[23]…………………………………………………...	20
表3-1 SCARA 機械手臂規格[23] ………………………………………………...	27
References
[1].	Ercan Oztemel, Samet Gursev, Literature review of Industry 4.0 and related technologies, Journal of Intelligent Manufacturing(2018)
[2].	黃仲宏, Digital Twins、ROS 與 AI 關鍵三要素強化機器人性能, 智慧自動化產業期刊2018年9月
[3].	徹底理解工業4.0的定義、九大科技、以及八大應用領域,  URL:https://oosga.com/pillars/industry40/
[4].	Halldor Arnarson, Digital twin simulation with Visual Components, Faculty of Engineering Science and Technology (IVT) Department of Industrial Engineering
[5].	Michael Grieves., Digital Twin: Manufacturing Excellence through Virtual Factory Replication (Mar. 2015).
[6].	F. Tao et al.,  Digital Twin in Industry: State-of-the-Art, In: IEEE Transactions on Industrial Informatics (2018)
[7].	陳佳滎, 數位分身技術發展趨勢與COVID-19防疫創新應用案例, 經濟部技術處IT IS智網(2020)
[8].	吳文加, 從工業4.0看工業機械手臂, 智慧自動化產業期刊, 2015
[9].	工業4.0的四大特質與虛實融合系統(CPS), 科技政策研究與資訊中心(2015) , URL: https://iknow.stpi.narl.org.tw/Post/Read.aspx?PostID=10691
[10].	Yang Lu, Cyber Physical System (CPS)-Based Industry 4.0: A Survey, Journal of Industrial Integration and Management(2017)
[11].	Wright, A. J, Ladder Logic Programming Fundamentals 2019: Learn Ladder Logic Concepts Step By Step to Program PLC’’s on The RS Logix 5000 Platform(2019)
[12].	Andrey Kruglyak, Modeling and Simulation of Embedded Real-Time Software, Luleå University of Technology(2010)
[13].	B&R Industrial Automation, URL:https://www.moea.gov.tw/MNS/doit/industrytech/IndustryTech.aspx?menu_id=13545&it_id=309
[14].	Sebastian Lehnhoff et al., OPC Unified Architecture: A Service-oriented Architecture for Smart Grids. In: (June 2012)
[15].	www.opcfoundation.org. OPC Unified Architecture Interoperability for Industrie 4.0 and the Internet of Things. URL: https://opcfoundation.org/wp-content/uploads/2017/11/OPC-UA-Interoperability-For-Industrie4-and-IoT-EN.pdf. 
[16].	Stefan Hoppe. There is no Industrie 4.0 without OPC UA. URL: https://opcconnect. opcfoundation . org / 2017 / 06 / there - is - no - industrie - 4 - 0 -without-opc-ua/.
[17].	Jahanzaib Imtiaz, Juergen Jasperneite, CAPRI: Common Automation Protocol Architecture and Real-time Interface URL:https://www.researchgate.net/figure/OPC-Unified-Architecture-24_fig4_259295825
[18].	Brian Scassellati and Bradley Hayes. “Human-robot collaboration”. In: AI Matters 1 (Dec. 2014)
[19].	Visual Components. OUR STORY. URL:https://www.visualcomponents.com/about-us/.
[20].	Visual Components. VISUAL COMPONENTS 4.3. URL: https://www.visualcomponents.com/products/
[21].	G. S. Huang and Z. H. Tian, "Application of a SCARA manipulator with a visual system in industries," International Journal of Computer, Consumer and Control, vol. 4, no. 4, 2015.
[22].	吳宗叡, SCARA 機器人運動學分析與模擬, 機械與電腦輔助工程學系
URL:http://dspace.lib.fcu.edu.tw/bitstream/2377/31579/1/D0176139104102.pdf
[23].	台達電子工業機器人DRAStudio軟體使用者手冊, URL:https://downloadcenter.deltaww.com/DownloadCenter?v=1
[24].	台達SCARA工業機器人DRS系列電控手冊, URL:https://downloadcenter.deltaww.com/DownloadCenter?v=1
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