發展可用於水下檢查之雙臂結構履帶型機器人

Development of a Tracked Robot with Dual-Arm Configuration for Underwater Inspection

陳昱志(Yu-Chih Chen)

指導教授 ： 葉賜旭

國立臺北科技大學/機電學院/機電整合研究所/碩士(2013年)

https://doi.org/10.6841/NTUT.2013.00237

摘要

現今市面上的機器人皆掛載單一攝影機並只能用於環境觀測探勘，且此類機器人的設計皆只考慮在環境探勘應用上的可行性；不僅如此，現今市面上觀測用機器人為了克服彎管或直立管，通常有著複雜的機械結構，而使其笨重並價格昂貴。所以，本研究旨在開發有防水結構設計的雙臂履帶型機器人，並應用在地下道的水下探勘。此種防水結構設計可以避免外在環境不利因素所產生的影響，而雙臂式結構可以在探勘環境中搬運物體。此研究應用LabVIEW軟體開發履帶式機器人的人機操作介面，並可擷取機器人上的攝影機影像訊號。

關鍵字

履帶型機器人 ； 雙臂結構 ； 水下探勘

並列摘要

Nowadays, inspection robots are equipped with a camera and are used only for observation and environmental inspection in consideration of their envisaged applications and available designs. Moreover, existing inspection robots usually have complex mechanical structures, which could make them bulky and expensive in the context of movement in bends or vertical pipes. Consequently, this study focuses on developing a simple and compact tracked robot with a waterproof mechanical design and a dual-arm configuration for underwater inspection of sewers. This waterproof mechanical design with different modules can prevent damage to the robot from the adverse effects of detected environments; the dual-arm configuration enables the robot to carry and move an object in the detected environment. The LabVIEW software was applied to develop the user interface of the tracked robot to control it and to receive video signals from the camera installed on the robot.

並列關鍵字

Tracked robot ； Dual-arm configuration ； Underwater inspection

參考文獻

[7] 鄭善韋,履帶型串結式機器人之階梯攀爬能力分析,碩士論文,國立臺北科技大學機電整合所,2011.

[2] A. Zagler and F. Pfeiffer, ”MORITZ a pipe crawler for tube junctions,” Robotics and Automation, vol. 3, pp. 2954-2959, 2003.

[3] M.M. Moghaddam, M. Arbabtafti,and A. Hadi, ”In-pipe inspection crawler adaptable to the pipe interior diameter,” International Journal of Robotics and Automation, vol. 26, no. 2, pp. 135-245, 2011.

[11] “6-A, Wide-Input Adjustable Switching Regulator,” Texas Instruments, Inc. 2008.

[12] Y.S. Kwon, E. Jung, H. Lim, and B.J. YI, ”Design of a reconfigurable indoor popeline inspection robot,” International Conference on Control, Automation and Systrems, pp. 712-716, 2007.