臺灣博碩士論文加值系統

目前各國所發展的水下載具，主要用途是作海底資源探測或海上災難救援等任務，其尺寸仍以中大型為主。至於更微小化之水下載具，目前尚處於初期發展階段。本研究以雙螺槳為動力源，發展可操控方向之微小潛水艇，著重在探討微小潛水艇製作的可行性及整體的系統整合，包括馬達挑選、螺槳設計與製作、推力測試、潛艇本體設計與製作，以及最後的水下測試。
首先挑選合適的馬達尺寸與性能，並設計腔體尺寸大小，接著依據軸流風扇設計概念，配合選用的NACA翼型，產生所需的螺槳外形。為製作微小螺槳特徵、腔體流線外型及內部空間配置，本論文選擇層加工製程中的SDM（Shape Deposition Manufacturing）製程，使用高分子材料為主要材料及蠟為支撐材料，各層堆積後以三軸CNC工具機加工出該層之幾何，堆疊製作出最後所需之3D微小複雜幾何。運用CAD/CAM軟體進行3D模型設計、刀具路徑規劃與模擬。
單一螺槳在水中的推力，藉由虎克定律(F=kx)計算出，再以內插法計算在不同電壓下的轉速與推力值。微小潛水艇組裝完成後，由所架設的水下測試平台，進行潛艇的性能測試，包括前進、左右轉等操控。33 g的微小潛水艇在雙邊螺槳轉速為2600 RPM之作用下，所產生的前進推力共為18.41 g ，前進速度為0.07 m/s；透過左右螺槳轉速的差異而產生的轉彎力矩，使潛艇得以左右轉彎，達到操控之目的。

Middle-size and large-size underwater vehicles have been widely developed for underwater exploration and rescue. Smaller vehicles are still in the developing stage. This research focused on manufacturing a maneuverable meso-scale submarine propelled by two propellers. The feasibility of the fabrication approaches and system integration were investigated, including motor selection, propeller design and manufacturing, propeller thrust testing, hull design and manufacturing, and finally the underwater testing.
First of all, an appropriate motor was chosen and then the hull of the submarine was designed accordingly. Based on the theory of axial-flow fan and NACA airfoil, the propeller for was designed. In order to fabricate the minute features of the propellers, outside streamlined geometry of the hull, and inside features of the hull, SDM (Shape Deposition Manufacturing), a layered manufacturing process, was selected. Three-axis CNC machine was utilized in SDM to define the geometry of each layer after polymer part material or wax support material was cast. CAD/CAM software was applied to constructing 3D models, process planning, and tool path simulation for each SDM layer.
The thrust of propeller was tested using Hooke’s law. Interpolating method was further applied to find the rotational speed of the motor and the thrust under a measured voltage. After assembly, the submarine was tested underwater to perform moving forward and turning right or left. The two 2600RPM propellers generated totally 18.41 g thrust to propel the 33g meso-scale submarine forward. The velocity was 0.07m/s. By adjusting the RPM of the two propellers, a torque was generated to maneuver the submarine to right or left.

摘要.......................................................................................................... I
Abstract………………………………………………………………… II
致謝..........................................................................................................III
目錄......................................................................................................... IV
圖索引....................................................................................................VII
表索引......................................................................................................X
符號表....................................................................................................XII
第一章 緒論.............................................................................................1
1.1 研究背景與動機........................................................................ 1
1.2 研究目的.................................................................................... 2
1.3 論文架構.................................................................................... 4
第二章 文獻探討.................................................................................... 5
2.1 水下載具發展現況.................................................................... 5
2.2層加工法..................................................................................... 8
第三章 馬達選擇與螺槳設計及製作................................................... 12
3.1 馬達選擇.................................................................................. 12
3.2 螺槳設計.................................................................................. 14
3.2.1 二維葉形產生............................................................... 14
3.2.2 NACA翼剖面設計....................................................... 14
3.2.3 螺旋葉片設計............................................................... 18
3.3 螺槳3D模型建構................................................................... 21
3.4 SDM製程之實驗設備與材料................................................ 23
3.4.1 SDM實驗設備............................................................. 24
3.4.2 SDM建構材料............................................................. 26
3.5 螺槳製作.................................................................................. 30
3.5.1 螺槳SDM製程之分層規劃......................................... 31
3.5.2 加工路徑規劃軟體....................................................... 32
3.5.3 螺槳加工參數設定與路徑模擬................................... 34
3.5.4 螺槳SDM製作流程..................................................... 40
第四章 潛艇本體之設計與製作........................................................... 42
4.1 流體計算軟體模擬本體外形流線.......................................... 42
4.1.1 STAR-CD軟體介紹..................................................... 42
4.1.2 網格建構與參數設定................................................... 42
4.1.3 模擬結果分析............................................................... 44
4.2 螺槳導流罩.............................................................................. 46
4.3 潛艇3D模型建構................................................................... 47
4.4 潛艇組裝方式之設計.............................................................. 48
4.5 潛艇本體製作.......................................................................... 52
4.5.1 潛艇本體SDM製程之分層規劃................................. 52
4.5.2 潛艇本體加工參數設定與路徑模擬........................... 59
4.5.3 潛艇本體SDM製作流程............................................ 64
第五章 推力實驗與水下測試............................................................... 73
5.1 推力測試載具之設計與製作.................................................. 73
5.2 螺槳推力實驗.......................................................................... 76
5.3 潛艇組裝及控制模組.............................................................. 85
5.4 水下測試.................................................................................. 90
第六章 結論與未來研究方向.............................................................106
6.1 結論........................................................................................106
6.2 未來研究方向........................................................................108
參考文獻...............................................................................................109
附錄1 0816 DC Motor性能資料表.………………………………..112
附錄2 主要材料性質資料表...………………………………………113
附錄3 BIOACT 280材料性質資料表………………………………115

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