在隧道型空間運動的微型機器人之研究

Abstract

本文研究的目的是研發一個可於隧道型空間爬行的機器人，此驅動機構需具有移動快速、體積小、構造精簡、成本競爭力高且具有特定功特色等優點。微型驅動機構在相關的研究中，在精度與操控方面仍屬初期的概念雛形研究階段，應用可行性方面仍有很大的發展空間。本研究首先在探討及設計隧道型機器人的驅動機構系統；其次探討機器人的理論架構，來評估其運動的可行性和運動步法順序等。接著也利用機構模擬與分析的方式，探討機器人的運動路徑與操控參數，並據以規劃隧道型機器人的實驗架構。經由系統化實驗量測歸納出較佳的控制參數與足部摩擦係數等，以提高此機器人在隧道型空間中平順地移動，甚或在傾斜與彎曲的隧道中快速而穩定前進，驗證理論評估的結果。本研究分析與實作結果驗證本研究所開發的特殊驅動機構的可行性，且此設計未使用馬達減速機等，因此可改用人工肌肉等驅動器，進而將尺寸縮小至微米至厘米尺寸，著具應用實效。

The purpose of the research is to develop a robot which can creep in a tunnel space. The tunnel robot is designed to have the characteristics of rapidly moving, small size, simple structure and low cost. As reviewing the researches of micro-driving mechanism, most of the studies are still at the conceptual design stage . The research focus on the design of the driving mechanism system of tunnel robot firstly . Secondly, the research explores theoretical frame of the robot to evaluate feasibility and gait schedule of motion. Then, the research try to derive the equation of motion and control parameter of the robot by means of simulation and analysis of the proposed robot mechanism. By systematical examinations as above, we can conclude better control parameters for the foot gait of the tunnel robot. The profits of the research are not only to make the robot move smoothly in both straight and curved tunnel but also to verify the results of related theory. The mobility analysis of the proposed tunnel robot has been made, and the experimental results have also verified the feasibility of the mechanism and actuator modules without the components of large scale such as reducing gear train etc. By the way since the proposed mechanism and actuator are simple and efficient. It can easily be replaced by artificial muscle and minimized the size of the robot from millimeter(mm) scale to micro meter(μm) scale. It is believed that the research can be applied to many practical applications and advanced studies.