臺灣博碩士論文加值系統

本研究旨在研發一爬壁機器人，針對爬壁機器人作業環境和作業性質，提出了機器人的性能要求，針對這些要求進行了本體結構及傳動機構與控制系統的設計，其相關重要零件利用Solidworks模擬分析使其組合件互相匹配，並使用3D印表機印製傳動機構主要材料使用ABS 材料且具易加工性，外觀特性，低蠕變性和優異的尺寸穩定性以及很高的抗衝擊強度。確定了驅動方式，實現了機器人在壁面上行走和可靠作業．提出一種可無線操控或自走於鐵金屬垂直表面的爬壁機器人，並搭載視訊檢測監控、無線通訊傳輸進行遙控、導航軌跡定位等功能，提供鐵金屬之船身、煙囪、核電廠、油槽、瓦斯槽等危險工作場所的機器人平台，本文將利用釹鐵硼（NdFeB）永久磁鐵的強力吸附功能力，配合履帶式機構所組成的機器人，確實執行鐵金屬垂直表面工作特殊用途的市場需求。研究中將著重於爬壁機器人總體結構之設計製作與機器人的機電系統整合。

This research aims to develop a climbing robot, that against to the operating environment for the climbing robot and operating properties of the robot is proposed performance requirements for these design requirements for the body structure and the transmission mechanism and control system, related to the important parts of its simulation analysis using Solidworks match each other so that the assembly, and use the 3D printer printed transmission main material ABS material possessed easy processability, appearance, low creep resistance and excellent dimensional stability and high impact strength. Determine the drive to achieve a robot walking on the wall and reliable operation. Presents a wireless control or self-propelled may ferrous metal vertical surface in wall-climbing robot, equipped with video detection and surveillance, wireless communications for remote transmission, navigation track positioning and other functions, provide the hull iron metals, chimneys, nuclear power plants, oil sump, robot platform gas tank and other dangerous workplaces, this article will use neodymium iron boron (NdFeB) permanent magnets force strong absorption features, with the robot crawler mechanism consisting indeed perform work-ferrous metal vertical surfaces of market demand for special purposes. Research will focus on wall-climbing robot design and overall structure of the robot''s mechanical and electrical systems integration.

摘　要 i
ABSTTRACT ii
致謝 iv
目錄 v
表目錄 vii
圖目錄 viii
第 1 章 緒論 1
1.1前言 1
1.2研究動機與目的 2
1.3文獻回顧 3
1.4研究內容及主要工作 8
1.5論文架構 9
第 2 章 機器人功能要求與設計 10
2.1功能要求 10
2.2機器人總體結構設計 10
第 3 章 機器人機構系統設計 21
3.1模擬分析概念及意義 21
3.2 SolidWorks模擬分析 22
3.3 3D印表機概念與應用 30
第 4 章 爬壁機器人系統設計 35
4.1 機器人總體系統 35
4.2硬體系統架構 37
4.3 控制系統流程與架構 39
第 5 章 機器人爬壁之實現 58
5.1機器人垂直壁面攀爬實驗 58
5.2機器人定位系統結果實驗 60
5.3視訊檢測監控目標物實驗 61
5.4機器人自動導航控制實驗 63
第 6 章 結論及未來展望 65
6.1 結論 65
6.2未來展望 66
參考文獻 67

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