臺灣博碩士論文加值系統

本文以一仿生獸構造為核心，研究一個受環境影響較小的水陸兩用機器人。主要的研究重點在於增強此仿生獸結構於水中運動能力同時增加陸上行走的穩定性，以及讓機器人有自主判斷環境的能力。仿生獸結構的優點是在關節的部分皆以連桿帶動而不需要使用馬達，讓防水的問題減少許多，而使機器人有自主判斷環境的能力也讓機器人往代替人類執行高危險性任務的目標更進一步。
本文主要使用SolidWorks來進行機構的模擬和分析，製作的載具中除了齒輪需要較高的精確度因此以光固化3D列印製作外，其他零件大部分都以壓克力製作。機器人長105mm寬98mm高70mm，重量約250g，實測結果在陸上的前進速度為2.38cm/s，實際測試與模擬的速度差異約為17%，在水中的前進速度約為3.93cm/s。

In this study, a method is proposed to increase the walking stability and increase the swimming speed and direction control at the same time. The robot also is enabled to have independent judgment on the environment to move.
The results show that this method is useful. The walking speed is 2.38cm/s, and the offset is approximately 3.5%. The swimming speed is 3.93cm/s and the direction is straighter. All of these results are better than the first generation [13].

The screws are kept from turning loose through washers. There is an approximately 50% speed difference between the official test and simulation in the condition that no washers are provided, but with the implementation of washers, the speed difference is reduced to 17%.

中文摘要 III
Extended Abstract IV
誌謝 XII
中文目錄 XIII
圖目錄 XV
表目錄 XVII
第 1 章 緒論 1
1.1 研究背景 1
1.2 研究動機 2
1.3 研究目的 4
1.4 論文架構 4
第 2 章 流程規劃與軟硬體設備 5
2.1 研究方法 5
2.2 控制晶片與軟體介紹 5
2.2.1 PIC18F4520簡介 5
2.2.2 馬達驅動IC 7
2.2.3 光耦合器TLP250介紹 8
2.2.4 軟體介紹 9
2.3 硬體介紹 9
2.3.1 馬達 10
2.3.2 壓力感測器 11
2.3.3 電池 13
第 3 章 機構設計與驗證 15
3.1 初始設計 15
3.2 解決辦法：尾鰭 15
3.3 平衡控制 17
3.4 感測器的應用 21
3.5 行走速度 23
第 4 章 實驗結果與討論 25
4.1 行走測試 25
4.2 水上前進測試 30
第 5 章 結論與建議 33
5.1 結論 33
5.2 建議 33
參考文獻 i

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