臺灣博碩士論文加值系統

為擴展本校與成功大學共同研製的「第二代水下無人遙控潛航器」在水下採集這方面的能力，本研究將開發一套可搭載於二代潛航器且具有足夠自由度的水下機械手臂系統。而研究重點著重於整套系統的機構部份，並釐清與其它機構模組的裝配限制。為避免額外引入液壓設備，因此整套手臂系統將採用馬達作為動力源，由潛航器所連結的電纜提供所需之電力。實際的機構設計中，最先考慮到手臂系統的水密性，以防內部電氣元件的毀損。故本研究將針對系統中靜態與動態機件各自選用合適的水密元件，並探討其裝配的尺寸與公差。接著根據所制定的設計條件決定手臂的自由度、臂長，並藉由3D電腦輔助繪圖軟體建構最終設計模型及完成馬達的選用。而為使手臂系統可因應不同的目標物，因此本研究於夾爪設計時，將其考慮成易於拆卸的模組化組件，初步完成一個簡易的泛用型夾爪。系統控制方面則直接使用市售的馬達控制卡及馬達驅動晶片完成整體控制系統的架構，並藉由C語言來撰寫操控界面，達成對手臂系統各關節的簡易控制。

To expand the ability of collecting underwater targets of "Remotely Operated Vehicle II", developed by National Sun Yat-sen University and National Cheng Kung University, this research will develop an underwater manipulator system which can be integrated with ROV II to have enough degrees of freedom to carry out sampling. The goal will focus on mechanism design and to distinguish the assemble restrictions from other mechanism modules. To avoid use of hydraulic pressure apparatus, the manipulator system will use electric motors as the source of drive, which feeds on ROV II''s electricity. In mechanical design, water tightness of underwater manipulator system is first considered to avoid damage of internal electric components. Therefore, in this research, suitable waterproof components will be selected separately for static and dynamic machine parts, and dimension and tolerance of assembly of waterproof components will be analyzed. Then, according to decided design conditions, the number of degrees of freedom of the manipulator and range of length of the arm will be decided. The final design model will be constructed, and selection of motors will be finished by 3D Computer Aided Solid Drawing Software. To have a manipulator system which can deal with different targets, the gripper design needs to consider to easily replacement. In the aspect of systematic control, commercial motor control card and motor driver chip are used to carry out the structure of the entire control system, and develop control interface by C language to easily control each joint of the manipulator system.

謝誌 i
中文摘要 ii
英文摘要 iii
目錄 iv
圖目錄 vi
表目錄 ix
第一章 緒論 1
1.1 文獻回顧. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1
1.2 研究背景與目的. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .. 4
1.3 本文架構. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .. 5
第二章 設計條件6
2.1 裝配限制. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .. 6
2.2 設計要點. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .10
2.3 設計考量歸納. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .11
第三章 機構防水設計13
3.1 靜態機件之水密. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .13
3.2 動態機件之水密. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .15
第四章 設計分析與實現20
4.1 自由度與臂長. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .21
4.2 爪部設計. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .23
4.3 轉動關節設計. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .31
4.4 最終設計. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .34
第五章 控制系統38
5.1 馬達控制器. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .38
5.2 控制架構. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .. 43
第六章 成果與結論46
6.1 研究成果與討論. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .46
6.2 未來發展. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .. 49
參考文獻 50
附錄A O型環密封法之分析步驟 53
附錄B 改善設計之機構模型 56

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