水下無人遙控載具(Remotely Operated Vehicle; ROV)在海底進行採樣作業時，其操控性容易受到海流影響，造成水下無人遙控載具搖擺不定而難以穩定接近目標物。此外，因水下無人遙控載具的螺槳推進器之推力作用而捲起海床沉積物，造成水層混濁而影響攝影機的觀測視野。本研究旨在開發一套可在海底寸行接近目標物並降低捲起海床沉積物的移動載台以進行採樣工作。此一海底移動載台結合國內自製二代水下無人遙控載具，並安裝採樣機械手臂以及樣本儲存裝置。採樣的工作環境設定在較為平坦的海底進行，所以本海底移動載台採用車輪推進概念設計，利用兩個直流馬達分別驅動後輪旋轉及帶動前輪轉向。前輪轉向藉由四連桿機構來達成，並利用數值方法進行最佳化轉向分析，以符合Ackerman條件(Ackerman condition)。海底移動載台的動力與控制，是透過二代水下無人遙控載具提供電源與序列通訊，並依據馬達驅動需求利用MSP430製作馬達控制卡。此一移動載台組裝完成後便進行操控測試，其測試結果可達成載台前後移動及左右轉向之操縱。

When carrying out sampling tasks close to the ocean bottom, a ROV keeps station at a fixed position and compensates the tether effects and currents. However, the operation of ROV thrust propellers for station keeping might stir up sediment and cause poor visibility, which forces ROV operators to stop work until the sediment clears. The purpose of this thesis, therefore, is to design and fabricate a seafloor moving platform able to approach steadily to sampling objects without stirring up much sediment. This moving platform must be combined with the second generation NCKU-NSYSU ROV, a sampling manipulator, and a sample storage apparatus. Also, the moving platform requires some capabilities for travel over relatively smooth seafloor. A wheel-driven mobile platform, as a result, is developed, in which the front wheels and rear wheels are respectively driven by two separately provided DC motors. The required power and serial command signals are transmitted to the platform via the second generation NCKU-NSYSU ROV. A four-bar linkage for steering font wheels is designed to work close to the Ackerman condition, and a chain-and-sprocket drive train is used to transfer power to the rear wheels. The motor controllers used for controlling DC motors are constructed based on MSP430 MCU (Micro Controller Unit). The preliminary driving performance of the platform is tested. The testing results indicate that the moving platform can drive steadily and behave as expected.

第一章 緒論 1
1.1 研究動機與目的. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1
1.2 文獻回顧. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .. 2
1.3 論文架構. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
第二章 設計規劃 8
2.1 設計條件與需求. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8
2.2 構想設計. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
2.2.1 傳動機構特性分析. . . . . . . . . . . . . . . . . . . . . . . . . . 10
2.2.2 樣本採集運作規劃. . . . . . . . . . . . . . . . . . . . . . . . . . 11
2.2.3 裝配規劃. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
2.3 設計程序. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
第三章 轉向機構設計 17
3.1 基本概念. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
3.2 構想設計. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
3.3 轉向機構之角位移分析. . . . . . . . . . . . . . . . . . . . . . . . 25
3.3.1 四連桿角位移方程式. . . . . . . . . . . . . . . . . . . . . . . . 26
3.3.2 Ackerman條件. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
3.3.3 參數設定. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
3.3.4 分析方法與結果. . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
第四章 海底移動載台設計 . 33
4.1 前輪轉向機構與框架設計. . . . . . . . . . . . . . . . . . . . . . 33
4.1.1 海底移動載台框架. . . . . . . . . . . . . . . . . . . . . . . . . . 33
4.1.2 轉向機構. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34
4.1.3 轉向驅動馬達選用. . . . . . . . . . . . . . . . . . . . . . . . . . 39
4.1.4 轉向驅動馬達水密設計. . . . . . . . . . . . . . . . . . . . . . 41
4.2 後輪驅動設計. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43
4.3 控制系統. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49
第五章 組裝與測試 54
5.1 機構組裝. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54
5.1.1 組裝程序與方法. . . . . . . . . . . . . . . . . . . . . . . . . . . 54
5.1.2 結論. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60
5.2 海底移動載台初步測試. . . . . . . . . . . . . . . . . . . . . . . 60
5.2.1 實地測試. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60
5.2.2 結論. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62
第六章 結論與未來展望 63
6.1 結論與建議. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63
6.2 未來展望. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67
參考文獻.......................68

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