臺灣博碩士論文加值系統

世界各地大大小小的橋樑皆有裂縫的存在，而此裂縫的存在將維繫到
行車的安全以裂縫之檢測」已成為目前一大要事。在台灣，仍停留在以「
搭鷹架」的方式，再藉由「人力」的攀爬，而達到檢測之目的。此種檢測
方式，光「搭鷹架」這工程便需耗費多時，造成工作效率差，且使用場合
的機動性也不高，最重要的是攀爬方式對「生命」具有相當大的風險。
根據以上種種顯示，本文展示一種以油、氣壓及感應馬達為驅動器之機械
手臂。其控制方式可依操作者之意願，可分為 Manual 及Automatic。在
Manual 中，操作者可在硬體工作範圍內任意驅動任何一個元件，使其單
獨伸、縮、旋轉。而在 Automatic 中，操作者只要輸入 Camera位置命令
，PC-Based Controller 便可以自動運算其各個元件的運動軌跡，並加以
驅動，而達到位置控制。 這部自動化機械手臂的優點在於能以著低成
本、低風險，且高機動性、高效率的安全地進行裂縫之檢測。

The cracks of the buttresses of the bridges are popular. The
existence of the cracks threaten the safety of the vehicles.
Therefore, to inspect the cracks is important. In Taiwan, the
method for prospecting the fissures is relied on traditional
tests by scaffolding and climbing down by human. Scaffolding
wastes a lot of time, reduces the efficiency and the mobility.
Don't ignore the danger to life caused by scaffolding.
As mentioned above, the theme presents the robot driven by the
HydraulicSystem、Pneumatic System and Inductive Motors. The
controller based on the motivations of the operators is
distributed into the Manual and Automatic operations. During the
Manual operation, the operator can drive main elements to
extend, to shorten and to rotate among the working space. During
the Automatic operation, the operator inputs the camera's
position command. The PC-Based Controller calculates the
dynamics of the main elements automaticallyand drives them to
the desired position. Safely inspecting
the cracks at lower cost, lower probability , higher mobility
and higher efficient is the advantage of the automatic robot.