- 學位論文
具跳躍或潛水能力之多功能六足機器人研發
The development of multi-function hexapod robot with jumping or diving capability
摘要
本研究所製作的「具跳躍或潛水能力之多功能六足機器人」，分別為兩種不同運動能力的六足機器人，其一，以跳躍型功能來進行崎嶇路面與障礙物的突破，其二，以防水型結構設計搭載潛水功能來進行水底探勘與偵察。本研究所製作的六足機器人，其機構只需由六顆馬達即可完成，並使用特殊“C”形構造完成足部的行動機構。“C”形足部的上端與馬達相連，下端則與地面接觸，使各個足可分別獨立 360 度轉動，以週期性規則交互迴旋的方式使機器人前行。機器人的行動方式，使用足型機器人行走模式，與輪型機器人的控制方式來完成，同時兼具足型機器人跨越能力，以及輪型機器人高速移動性。“C”形足部採用熱塑土製作，當足部受到外在壓力或是撞擊時，足部會向內壓縮達到緩衝功能，如同避震器原理，即使機器人在崎嶇不平的道路上行走，機器人依然可以保持良好的穩定性以及高速突破性，可行走地形分別包含：水底、水中、水面、沙地、泥地、草叢、起伏障礙地形以及斜坡各種複雜地形。 跳躍型機器人裝置多種感測元件如：距離感測器、溫度感測器及無線攝影機等多種感測元件，可依使用者需求裝置各種感測器，方便進行各種環境偵測達到客製化的需求。並可使用遙控模式、自動模式、電腦操控模式三種不同的控制方式，操控機器人達到遠端偵察的功能，替代人類進行高危險性偵察活動有效減少人員傷亡。 潛水型機器人則搭配AI馬達與3D列印之船槳當作升降動力源，方便進行水中與海中之偵測任務。應用時可結合在救災、水管下水道探測、核能廠偵測、科學任務偵察、軍事用途甚至太空偵察。
並列摘要
In the research, multi-function hexapod that is waterproof and jumping structure is designed for investigating in the ragged environment and exploring on the bumpy road. The jumping hexapod robot with the high obstacle crossing and rough barrier as well as the water-proof hexapod robot is made for diving in the water and making explorations would be introduced. The hexapod robot consists of six AI-motors and the special structure called C-shaped foot which is the upper motor connected with the AI-motor and lower motor connected with the ground. The robot has higher mobility in that use the special foot which makes the robot has higher mobility and higher crossing. The material of C-shaped foot are dissolvable plastic when it’s hit by the obstacle, it will has the function of shock(shock absorber) to protect the C-shaped foot and robot body structure. Referring to environment for the robot, like the underwater, sand-play area, muddy road, bush, craggy road and varieties of complicated terrains are able to overcome. The jumping hexapod is able to explore with the sensor of infrared ray, temperature, wireless camera, and the like. The diving hexapod consists of six servomotors and one propeller made of 3D plastic will use to adjust the robot up and down in and on the water, so it is convenient to make an investigation on the water or do water exploration. For the communication, people could use the remote mode, automatic mode and computer operation mode to make a control of robot. However, it’s more efficient that the robot replaces human to do some dangerous things. For application, it can use underwater, unclear investigation, scientific mission, space investigation and most importantly decreasing the casualty.