類圓柱體爬昇機之設計與開發

Design and Development of a New Quasi-cylindrical Object Climbing Machine

潘建豪(Chien-Hao Pan)

指導教授 ： 歐陽又新

國立臺灣大學/生物資源暨農學院/生物產業機電工程學研究所/碩士(2004年)

https://doi.org/10.6342/NTU.2004.01463

摘要

本論文旨在探討一新式泛用型類圓柱體之垂直爬昇機的設計。此機型以桿柱等作為爬行對象，可進行上下、旋繞及定位等動作，主要目的在用作高處作業機具等之升降平台，以期替代人力，擔任清潔、維修、救災等危險性工作，未來將具有進入市場的潛力。
本研究在初期即運用各種工程設計理念，如同步工程、合成設計與最佳化設計等，並根據適用條件與限制因素歸納出一套設計流程；在技術上則參究“垂直爬壁機”與“擬生物機械”等之關鍵技術進行型式設計，開發出一新型輪動力式爬昇機，並針對機身之自動平衡機制作一獨創性設計。根據實際製作與試驗的結果，本雛型機之爬昇速率可達2.4公尺/分。

關鍵字

爬壁 ； 爬柱 ； 最佳化設計 ； 設計開發 ； 擬生物機械

並列摘要

The study confers with development of designing a new functional machine which can climb quasi-cylindrical objects like wire poles or coconut palms. It can scramble up and down, encircle and hold onto poles. The main purpose of this machine is to be an automatic carrier conveying implements to work at high place substituting for human being to do dangerous tasks like rescue, clean or repair with high market potential.
At the beginning, various engineering design concepts such as Concurrent Engineering, Design Synthesis Analysis Approach and Optimal Design etc. are applied to generalize a development process. The key techniques of wall-climbing robot and biomimic machinery are referred to in this study. It applies optimal design to determine parameters of machine dimensions. According to the results of trial run of the prototype machine, its’ velocity of climbing is about 2.4 meter per minute.

並列關鍵字

biomimic machinery ； wall-climbing ； optimal design ； pole-climbing ； development

參考文獻

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