履帶行水下機器人之設計與製作

機器人在海底運作需要克服水下壓力以及海底的洋流，本論文設計出履帶型水下機器人，手臂以六軸設計為主，使用本身具有自鎖功能的減速機設計於各個關節，另一方面，平台由載具承載，以鋼架為骨幹，在門閘上端設置CCD影像以利觀察平台進出狀況，平台以履帶輪為主要傳動方式，動力源為交流馬達搭配減速機，平台前、後端都設置CCD影像，可以隨時觀察前後的障礙物狀況；使用人機介面(HMI)遙控水下機器人，水下機器人前端及後端都設置CCD影像，隨時把海底狀況回傳給使用者，並由感測器陀螺儀及電子羅盤可以得知水下機器人水平狀態和正確方位，將數據傳送到人機介面(HMI)給予使用者隨時掌握水下機器人動態；水下機器人手臂以同步控制來達到滑順移動及增加效率，因此，推導水下機器人手臂運動學、反運動學和Jacobian等公式，驗證手臂能確切達到位置控制，以及各種手臂姿態的可行性。本研究實驗結果可驗證履帶型水下機器人的可行性，並且藉由物體的抓取實驗，判斷水下機器人在水下作業的可行性。

關鍵字

水下機器人；運動控制；移動式機器人

並列摘要

This study is aimed at developing an underwater mobile robot consisting of a six-degree-of-freedom robot arm and a tracked-type mobile platform for the robot to execute pick-and-place tasks on the seabed. This robot arm uses a joint design with worm-gear sets having the self-locking function to overcome pressure and ocean current effects while the robot moves on the seabed. The tracked-type mobile platform uses tracked wheels actuated by AC servomotors for the robot to be able to overcome obstacles and move smoothly on the uneven seabed. Conditions around the robot and the obstacles located at the front and rear sides of the robot can be monitored using several CCD cameras that are installed on the rigid frame of the mobile platform. A human-machine interface system is further developed to remotely control the underwater mobile robot and to display the monitoring data obtained from CCD cameras and other sensors such as the electric compass and the gyroscope installed on the robot. The six-degree-of-freedom robot arm can move smoothly and efficiently in an undersea environment through the application of a synchronization motion control method developed in this study. The developed synchronization motion control method involves a detailed kinematic analysis, which includes the forward and inverse kinematics and the corresponding Jacobian of the robot arm; as a result, the robot arm can be controlled remotely to demonstrate feasible configurations and to correctly approach the target object to be picked up. Several pick-and-place experiments and remote-control experiments are carried out using the developed underwater mobile robot. The experimental results demonstrate the feasibility of operating the robot in undersea environments.