為改善傳統組裝工藝以提升製造工具機之組裝效益，本論文提出一套新方法並發展成一種創新技術，其為「人機協同智慧組裝」。
本論文首先針對精密工具機線性滑軌系統為研究對象，進行人機協同智慧組裝之系統原理建立；並且，在考慮發展情境之倫理思考下，提出一套法則，稱為「人機協同智慧組裝三大定律」。再以人機協同智慧組裝三大定律為原則，並利用其系統原理進行實驗與驗證。在實踐過程中，系統智慧化地將一位組裝人員的工作能力發揮至最具效率，並於量測線性滑軌組裝精度時，智慧化地及時評估其單軸線性平台結構之靜態狀況。
藉由人機協同智慧組裝達到節省人力和提高作業效率，進而節省資源。並且，這套人機協同智慧組裝三大定律方案可以建構人機協同智慧組裝之研究領域中根本的原則基礎。

The purpose of this study is to ameliorate the traditional assembly processes to improve assembling efficiency when the operator manufactures a machine tool. Therefore, this study proposes a new methodology to develop an innovative technology which is called “Human-Machine Cooperation Intelligent Assembly.”
In this thesis, the linear guideway system of a precision machine tool is considered as an example for implementing the proposed methodology and technology of Human-Machine Cooperation Intelligent Assembly. And in the situation of considering the development of ethical reflection, this thesis proposes rules known as “Three Laws of Human-Machine Cooperation Intelligent Assembly”. Furthermore, according to the Three Laws of Human-Machine Cooperation Intelligent Assembly, this thesis uses the system theorems to conduct the experiment and verification. In its practice, the system not only intelligently brings the capacity of a staff into full play, but also intelligently and timely estimates the static characteristics of single axial linear platform structure.
By means of Human-Machine Cooperation Intelligent Assembly, it reaches to save manpower and promote operational efficiency so that it economizes resources. Moreover, this Three Laws of Human-Machine Cooperation Intelligent Assembly can establish fundamental foundation in research field of Human-Machine Cooperation Intelligent Assembly.

摘要 I
中文摘要 II
目錄 IV
圖目錄 VIII
表目錄 XIV
符號說明 XV
第一章 緒論 1
1-1 研究背景 1
1-2 文獻回顧 3
1-2-1 工具機之研究 3
1-2-2 智慧化工具機之研究 4
1-2-3 工具機結合界面特性之研究 4
1-2-4 螺栓結合特性之研究 6
1-2-5 線性滑軌特性之研究 6
1-2-6 線性平台誤差之研究 8
1-3 研究動機 9
1-4 本文內容 11

第二章 線性滑軌系統之組裝分析 13
2-1 線性滑軌的概述 14
2-1-1 線性滑軌的功用與特點 14
2-1-2 線性滑軌的預壓與剛性 16
2-2 線性滑軌組裝介紹 18
2-2-1 基準軌與從動軌 18
2-2-2 線性滑軌的固定方式 19
2-2-3 線性滑軌之滑軌組裝 20
2-2-4 線性滑軌之滑塊組裝 22
2-3 線性滑軌的組裝特點 23
2-3-1 線性滑軌的精度等級 23
2-3-2 組裝平面公差規範 25
2-3-3 組裝面肩部高度及倒角 28
2-3-4 滑軌裝配螺栓之扭力值 29
2-4 組裝配置之運動學與半運動學設計原理 30
2-5 線性滑軌組裝之量測誤差分析 33






第三章 人機協同智慧組裝系統原理建立 34
3-1 人機協同智慧組裝之原則 35
3-1-1 發展情境之倫理思考 35
3-1-2 人機協同智慧組裝三大定律 39
3-2 人機協同智慧組裝之設計概述 40
3-2-1 概念模式 40
3-2-2 系統結構與功能分配 41
3-3 人機協同智慧組裝之理論 42
3-4 人機協同智慧組裝之系統試驗 53
3-4-1 智慧功能介面 53
3-4-2 考慮無組裝誤差且無工作台之重心偏移時 55
3-4-3 考慮無組裝誤差而有工作台之重心偏移時 58
3-4-4 考慮有組裝誤差且有工作台之重心偏移時 61
第四章 人機協同智慧組裝之實驗 64
4-1 實驗設施介紹 65
4-1-1 機台結構 65
4-1-2 量具與儀器 69
4-1-3 人機介面 73
4-2 人機協同智慧組裝之實驗方法 77
4-2-1 平台結構參數實驗 77
4-2-2 線性滑軌系統之滑軌組裝實務 84
4-2-3 線性滑軌系統之滑塊組裝實務 87
4-2-4 線性滑軌系統之智慧功能檢測實驗 88
4-3 人機協同智慧組裝之實驗結果與討論 94
第五章 人機協同智慧組裝之驗證實驗 97
5-1 驗證實驗之量測儀器介紹 98
5-2 人機協同智慧組裝之驗證實驗方法 99
5-2-1 工作台俯仰誤差之驗證實驗 99
5-2-2 工作台滾動誤差之驗證實驗 101
5-2-3 工作台真直度之驗證實驗 103
5-3 人機協同智慧組裝之驗證實驗結果與討論 105
5-3-1 驗證實驗結果 105
5-3-2 驗證實驗結果討論 107
第六章 結論與未來工作 113
6-1 結論 113
6-2 未來研究方向 116
參考文獻 118

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