線控機器人與自走子車製作在教學上之應用

The Development of a Wire-Controlled Robot with Four Programmed Sub-Vehicles for Education

周立強(Li-John Jou) ； 高易宏(Yi-Hung Kao) ； 吳建昌(Chien-Chang Wu)

《宜蘭技術學報》 6期 (2001/06) Pp. 85-102

https://doi.org/10.6179/nit.2001.06.21

摘要

本文目的主要以第四屆全國技專院校創思設計與製作競賽為例，說明製作線控機器人與自走子車過程中，所需要運用的機電知識與技術來達到教學效果。製成的線控機器人必須能完成排除與重置障礙、取旗與插旗、釋放自走子車等動作。而子車被釋放後須以自身動力行進且不可線控或遙控，並於沿途釋放物件於標的區內。在線路控制方面為達到節省元件及減少線路數，採用傳統繼電器接點迴路與可程式控制器兩者並行方式控制所有致動器。而子車自走部分則以可程式控制器為核心，以時間序控方式完成。最後本製作分別在本校模擬場地及雲林科技大學比賽場地完成所有要求的動作功能，顯示在製作過程中所運用的機電知識技術及工程團隊精神是正確而有效的。

關鍵字

線控機器人 ； 自走車 ； 可程式控制器

並列摘要

This work was based on the mobile robot developed for this year's ”The 4^(th) Annual Contest of Creative Design among Technological Colleges” held in National Yunlin University of Science and Technology. The objective of this paper was to illustrate how to develop a wire-controlled robot with four programmed sub-vehicles by applying electromechanical knowledge, in order to fulfill the goal of education. The wire-controlled robot was required to remove two obstacles, grasp and insert a vertical flag, and release four sub-vehicles. The sub-vehicles were designed such that they would put appropriate objects on the target area without external controls, while passing through prescribed paths. The design of wiring strategy for robot was to reduce the numbers of parts and wires as much as possible. An electronic system composed of relays and PLC was developed to accomplish strategy and to operate the robot easily. Similar arrangement was also applied to all four sub-vehicles by Time-sequence control method. Each sub-vehicle was equipped with one PLC, in order to improve the accuracy of occupying the target areas. The complete electrical-mechanical system was successfully tested in our campus as well as in the contest. It was found that both knowledge of mechatronics and spirit of teamwork were crucial to the success of this work.

並列關鍵字

wire-controlled robot ； programmable logical controller(PLC) ； programmed sub-vehicles