臺灣博碩士論文加值系統

本研究特別以動物為師，模仿具演化優勢能橫行各種環境的物種－蛇，研發與製作水陸兩棲偵察機器蛇。本研究水陸兩棲偵察機蛇的概念來自於蛇的多變行動模式與滑溜特性，使此種機器蛇能突破任何的困難地形，甚至是狹小的空間，以完成所交付的任務。由於機器蛇具有長而細的身軀，能鑽能爬，本水陸兩棲偵察機器蛇，將可應用在地震或災難現場偵察與尋找生還者，也可用在有毒害的惡劣環境、儲油槽、沼氣空間、受汙染工廠中執行偵搜任務，以及狹小管道、下水道、石油輸送管、與瓦斯輸送管之檢察，甚至警察攻堅或戰場中的先遣偵察上。
本研究之水陸兩棲偵察機器蛇，主要使用16顆AI馬達仿造真蛇組成該機器蛇的關節，以構成機器蛇的主要制動機構，因此擁有16個可動自由度。機器蛇除蛇頭與蛇尾各為只使用一顆馬達組成的單節數關節除外，其餘為2顆馬達組成一節，所以整體機器蛇一共有9個關節。我們將機器蛇身做防水處理，也在機器蛇頭安裝無線攝影機，因此可在陸地與水中進行兩棲偵察。本研究為使機器蛇能在水中運動，提出一種適用在水中的活動機制，就是機器蛇藉由每顆AI馬達細微的角度變化所產生出的步態運動，使得機器蛇得以在水中隨意行動。另一種為適用於陸地上的活動機制，透過每顆關節運動，所產生類似弦波形狀的步態模式，我們稱之為蜿蜒爬行步態模式。本文還實現了完全防水的機器蛇機械原型，並可應用在水陸兩棲偵察機器蛇身上，用來驗證所提出的螺旋運動與蜿蜒爬行兩種步態模式的推進原理。
水陸兩棲偵察機器蛇的整體系統包含使用者操作系統、步態模式、電池管理、硬體機構五大部分。使用者操作系統整合了使用者機器蛇目前所回傳的影像、電池電量等資訊以及具備同步控制的能力；步態模式包含：1.蜿蜒爬行之前進、左轉、右轉、後退、2.滾動橫移、3.螺旋運動；電池管理包含：1.鋰電池組過度充電及過度放電保護、2.電池殘電量顯示、3.具備電池組平衡功能；硬體機構的設計是使用各式齒輪搭配支撐架並裝在鋁管與尼龍布風管裡面，使特殊的黏著劑接合而成。

The research idea of the amphibious reconnaissance snake robot comes from the flexible action mode of the real snake which can conquer any difficult terrain even a small space. The joints of the snake robot are made up the 16 AI motors (16 Degree of Freedom) according to the structure of the real snake. Each trunk of the snake robot is made up two AI motors and one aluminum tube in addition to the head and tail. The snake robot has nine trunks. The snake robot has been totally waterproofed and the wireless camera is set up in the head. Therefore, the snake robot can achieve the amphibious reconnaissance on both of the land and water. The study proposes the spiral motion methods such that the snake robot can move freely under water. Every AI motor must continuously do the subtle angle changes in order to achieve the spiral motion of the snake robot under the water. Moreover, the snake robot performs the serpentine crawling on the land by every AI motor rotating of the joints to present the sinusoidal shape gait pattern.
The whole system development of the amphibious reconnaissance snake robot contains the user operating system, the gait patterns design, the battery management, the hardware structure design. The user operating system includes three functions: the current explore images, the battery power information and the synchronize control unit. The gait pattern design includes: 1.The serpentine crawling (forward, left, right, backward), 2.The rolling lateral movement, 3.The spiral motion. The battery management includes: 1.The lithium battery overcharge and over-discharge protection, 2.The battery residual display, 3.The battery balancing system. The hardware structure design is to integrate the AI motors, aluminum tubes, gear boxes, and waterproof material into the waterproof snake robot.

摘要..................................................................i
Abstract............................................................ii
誌謝..................................................................iii
目錄..................................................................iv
表目錄...............................................................vi
圖目錄...............................................................vii
第一章緒論........................................................1
1.1前言............................................................1
1.2研究目的......................................................1
1.3文獻探討......................................................2
1.4論文架構......................................................3
第二章系統架構..................................................4
2.1使用者操作系統.............................................4
2.2機器蛇端系統 ................................................4
2.3電池管理系統 ................................................5
2.4機器蛇硬體系統架構.......................................6
第三章 研究內容................................................17
3.1水陸兩棲偵察機器蛇機械結構...........................17
3.1.1齒輪組.........................................................17
3.1.2連接機械結構................................................21
3.1.3防水措施......................................................25
3.2運動原理.........................................................26
3.1.1蜿蜒爬行原理................................................26
3.1.2螺旋運動模式................................................27
第四章實際成果與測試 .............................................29
4.1機器蛇機械結構...................................................29
4.2蜿蜒爬行............................................................32
4.3蜿蜒爬行轉彎......................................................39
4.4滾動橫移.............................................................45
4.5游泳.....................................................................47
第五章結論與未來展望................................................50
5.1結論.....................................................................50
5.2未來展望...............................................................50
參考文獻.....................................................................51
Extend Abstract.........................................................52
簡歷(CV).....................................................................57

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