非等徑圓柱體攀爬機器人之創新設計與成效分析

Abstract

本論文旨在探討一針對非等徑桿柱新型攀爬機器人之設計創新與成效分析；此型提供高處作業用兼具攀爬功用升降平台的機器人，可進行沿桿柱升降等動作，協助垂直位移搬運與裝設任務；加裝輔助工具可進而替代人力，擔任清潔、維修、救災等危險性工作。 本研究首先進行各項攀爬機器人的元件設計分析與成效評估，選用各種摩擦係數的對應材料，提供手爪零組件材料選配，同時採用SolidWorks軟體進行成效分析與模擬，並選定機架參考點在X軸向偏擺位移量曲線與擺幅作為攀爬穩定性分析的評估指標。本研究模擬與分析項目分別為：(1)分析比較各設計影響參數對於攀爬穩定性的影響趨勢。(2)考慮其載重物重心位置與手爪夾角角度對於攀爬速度以及攀爬穩定性的關係。(3)藉由材料摩擦力學等分析模式評估各項參數與材料的選用配置對機器人穩定性的影響，以做為研究進行機構參數改良的依據與參考。本研究以非等徑圓柱攀爬機構的機構設計創新，機構參數最佳化等為研究目標，目前蠕動式攀爬機構之手爪經過改良設計後，並以田口法找出最佳參數組，且藉由分析模擬與實作驗證所設計的成果，本研究所提出之優化後攀爬機器人的最佳組配機構經測試後其穩定性指標(即參考點的X軸平均偏移量)比優化前改善達60%，此研究成果可供設計手臂夾爪型蠕動式攀爬機器人的設計參考。

This study proposes the innovative design and performance study of worm type robot for climbing nonuniform pole . The current robot provides the pole climbing function as load lifting platform.While installing with specified tool on grippers,it can assist to operate the tasks of cleaning, maintenance, disaster relief and other dangerous work at the height of working environment.

The study presents a new gripper model of the pole climbing robot,several design projects were assisted by mechanical analysis and simulation software system such as SolidWorks.Some typical topics of the study are expressed as follows:(1)analyzing and comparing the climbing stability while using different design concept and parameters.(2)evaluating the climbing performance and stability while changing the loading position and various gripper modules.(3)investigating the stability of column climbing while adopting various material in the gripper and palm.The simulation results of the study are evalucted and concluded assisted by Taguchi method for generating an optimal design model of the improved new nonuniform pole climbing robot.And the simulation data demonstrates that the new design modoule is improved with the 60% increasing of stability index than that before recreated.