摘要
在發生許多難以避免的天災人禍之後，要如何將傷害降到最低是第一個目標，而隨著機器人的發展，在執行救難行動中，機器人越來越扮演重要的角色，賦予每個機器人不同的任務再利用分工合作的方式將訊息傳達給救難人員，增加救援的安全性。 本文中設計一探勘機械蛇，內容主要在敘述說明每節蛇身的機構設計功能及想法，使用機械元件的計算式，機械蛇產生的力矩對於馬達的選擇，機構設計方面在蛇頭部分裝有CCD及LED可傳回即時影像，在每節蛇身之間的連接方法上設計一萬向機構，使其在一個連接處就可同時實現蛇身上下及左右的作動，搭配蝸桿及齒輪的運用，有效控制蛇身的抬舉及偏擺，讓蛇身約能抬舉30cm之高度，視野更加廣泛；而在前進方式上設計了兩種形式，在平順路面使用安裝的主動輪配合每節的輔助輪推進，若為非平順路面則利用蛇身的左右偏擺做出收縮及伸展的動作，搭配前後兩對爪子機構，讓蛇身在一次動作循環下能前進約15cm，以達到在災區探勘的功用。
並列摘要
After many natural and man-made disasters happened is difficult to avoid, how to minimize the damage is the first target. With the development of robots, in the implementation of rescue operations. The robot increasingly play an important role. Different tasks assigned to each robot and use the division of labor to spread the message to rescuers, increase the safety of rescue. In this paper, design a exploration snake robot. Mainly narrative and description of each section of the snake's body design features and ideas. Using the calculation formula of mechanical components. The torque generated by the snake robot and for the motor choice. In mechanical design, the snakehead equipped with CCD and LED can return real-time video. Design a cardan mechanism on the connection method between the snake’s body. In a connection can simultaneously achieve snake up and down and left and right of action. With the use of the worm and gear, effective control of the snake’s body lift and swing. Snake robot can lift height of about 30cm and increase field of view. The way forward is designed in two forms. In the smooth pavement, use driving wheel with auxiliary wheels of each snake’s body advance. If in the non-smooth pavement, then use snake’s body swing around and make shrinking and stretching movements. With two pairs of paws mechanism, snake’s body make one motion cycle can move forward 15cm. Exploration of function in the disaster area to achieve.