仿生偵查機器飛鳥

近年來科學家紛紛將機器人的研究方向，轉向以自然界的動物和昆蟲為師，觀察其結構、行為與動作，以製作仿生機器人。仿生動物和昆蟲機器人的研發概念即是模仿自自然界生物，具有生物特徵、或是類似生物的運動方式，使機器人能夠在各種險惡的地形快速移動。目前的各型動物機器人，例如足型機器人，雖然能突破各種險惡地形，但無法在天空進行飛行，此類的仿生機器人鮮少研究。本研究為執行偵查與探索的任務，設計出能替代人類，前往未知環境中進行偵察(軍警、科學、探勘和探險用途)，或是進行商業空拍和探索的仿生物偵查機器飛鳥。本機器鳥也可做為研究鳥類飛行動作的實驗機具。本機器人外觀以海鷗作為模仿對象，來進行開發與設計。機器飛鳥在空中具有高度機動性，可自由升降與迴轉，擁有快速且大範圍進行探索與偵查的能力，而且具有生物特徵的偽裝性。本機器人的運動方式以飛鳥的飛行姿態來進行模擬，由翅膀的上下擺動給予上升的力量，再由尾端可上下左右擺動的尾翼，作為飛行中升降、迴轉的操控。本機器飛鳥使用兩種不同的馬達，一共三顆馬達，其一為一顆無刷馬達，主要功用是帶動飛鳥翅膀擺動的動力。由於無刷馬達的轉動速度過快，因此透過不同齒輪數的齒輪組合，設計出如同減速機效果的變速箱，將高轉速的無刷馬達轉變為較低速且具備更高扭力的齒輪帶動機，再與翅膀結合，使得翅膀能上下擺動，獲得上升的力量。其二為兩顆伺服機馬達，功用是帶動飛鳥後端尾翼之上下左右擺動，使飛鳥於空中飛行時能進行飛行方向改變。結構方面由於機器飛鳥應用於空中偵察，不同於地面機器人，在整體重量的考量因素下，各軸連接部份則使用碳纖維棒作為支架，由於碳纖維質地強而輕，且耐高溫、耐水、耐腐蝕，是製造飛行器及耐腐蝕設備的優良材料。因此本機器飛鳥所有內部結構均使用碳纖維棒設計組裝，達到輕量化的作用。在機器飛鳥前端裝置一個無線攝影機，可將前端影像即時回傳到使用者電腦，用來即時監控機器飛鳥所偵查到的影像，並以此作為操控機器飛鳥的飛行偵察探索任務。

關鍵字

偵查機器人；機器飛鳥；仿生；無刷馬達；飛行機器人

並列摘要

In recent years, the new research topic of the robot is to imitate animals and insects of the natural world to develop the Biomimetic Robot by observing their structure, behavior and actions. Biomimetic robotic animals and insects have biological characteristics and similar actions of the natural organisms, so that the robot can move quickly in a variety of treacherous terrain. Moreover, various types of animal robots have been made, such as foot-type robots and insect robots. They can be able to move in a variety of treacherous terrain, but they cannot fly in the sky. This study designs the bird robot to perform the task of investigation and exploration in the sky. The bird robot can replace humans to conduct reconnaissance (Military, police, science, exploration and adventure purposes) in unknown environments, or to do the commercial space shoot and science investigation. The bird robot can also be used as experiment equipment to research the flying action of a bird. The appearance of the bird robot is to imitate the seagull. In the sky, the bird robot has the excellent maneuverability, lifting, rotating, fast, and large-scale exploration and investigative capabilities. The movement pattern of the bird robot imitates the flying action of the seagull. The bird robot can fly by flapping its wings and change the direction by moving its tail. The bird robot use two different kinds of motors whish are one DC brushless motor and two servo motors. The DC brushless motor with the reduction gear box is used as the main power to fly for swing the wings of the bird robot. Two servo motors are driven up and down the bird’s tail, so that the birds can fly any direction in the sky according to the position of the bird’s tail. Since the bird robot must fly in the sky to achieve the investigating task, the bird robot should be light and strong. The carbon fiber rods are used as the main scaffold of the bird robot. Therefore, all the internal structure of the bird robot is designed and assembled the carbon fiber rods. A wireless camera is set up in the front of the bird robot to investigate and explore the unknown environment.