為擴展本校與成功大學共同研製的「第二代水下無人遙控潛航器」在水下採集這方面的能力，本研究將開發一套可搭載於二代潛航器且具有足夠自由度的水下機械手臂系統。而研究重點著重於整套系統的機構部份，並釐清與其它機構模組的裝配限制。為避免額外引入液壓設備，因此整套手臂系統將採用馬達作為動力源，由潛航器所連結的電纜提供所需之電力。實際的機構設計中，最先考慮到手臂系統的水密性，以防內部電氣元件的毀損。故本研究將針對系統中靜態與動態機件各自選用合適的水密元件，並探討其裝配的尺寸與公差。接著根據所制定的設計條件決定手臂的自由度、臂長，並藉由3D電腦輔助繪圖軟體建構最終設計模型及完成馬達的選用。而為使手臂系統可因應不同的目標物，因此本研究於夾爪設計時，將其考慮成易於拆卸的模組化組件，初步完成一個簡易的泛用型夾爪。系統控制方面則直接使用市售的馬達控制卡及馬達驅動晶片完成整體控制系統的架構，並藉由C語言來撰寫操控界面，達成對手臂系統各關節的簡易控制。

To expand the ability of collecting underwater targets of "Remotely Operated Vehicle II", developed by National Sun Yat-sen University and National Cheng Kung University, this research will develop an underwater manipulator system which can be integrated with ROV II to have enough degrees of freedom to carry out sampling. The goal will focus on mechanism design and to distinguish the assemble restrictions from other mechanism modules. To avoid use of hydraulic pressure apparatus, the manipulator system will use electric motors as the source of drive, which feeds on ROV II's electricity. In mechanical design, water tightness of underwater manipulator system is first considered to avoid damage of internal electric components. Therefore, in this research, suitable waterproof components will be selected separately for static and dynamic machine parts, and dimension and tolerance of assembly of waterproof components will be analyzed. Then, according to decided design conditions, the number of degrees of freedom of the manipulator and range of length of the arm will be decided. The final design model will be constructed, and selection of motors will be finished by 3D Computer Aided Solid Drawing Software. To have a manipulator system which can deal with different targets, the gripper design needs to consider to easily replacement. In the aspect of systematic control, commercial motor control card and motor driver chip are used to carry out the structure of the entire control system, and develop control interface by C language to easily control each joint of the manipulator system.

謝誌 i
中文摘要 ii
英文摘要 iii
目錄 iv
圖目錄 vi
表目錄 ix
第一章 緒論 1
1.1 文獻回顧. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1
1.2 研究背景與目的. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .. 4
1.3 本文架構. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .. 5
第二章 設計條件6
2.1 裝配限制. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .. 6
2.2 設計要點. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .10
2.3 設計考量歸納. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .11
第三章 機構防水設計13
3.1 靜態機件之水密. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .13
3.2 動態機件之水密. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .15
第四章 設計分析與實現20
4.1 自由度與臂長. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .21
4.2 爪部設計. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .23
4.3 轉動關節設計. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .31
4.4 最終設計. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .34
第五章 控制系統38
5.1 馬達控制器. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .38
5.2 控制架構. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .. 43
第六章 成果與結論46
6.1 研究成果與討論. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .46
6.2 未來發展. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .. 49
參考文獻 50
附錄A O型環密封法之分析步驟 53
附錄B 改善設計之機構模型 56

[1] 許覺良，“半導體前段製程設備發展技術之探討(一)，”金屬工業，31卷6期，40-46頁，1997。
[2] 黃裕仁，“晶圓輸送機械手臂之機構分析及運動控制研究，”中原大學機械工程研究所碩士論文，1999。
[3] J. Peirs, D. Reynaerts and H. V. Brussel, "A Miniature Manipulator for Integration in a Self-Propelling Endoscope," Journal of Sensors and Actuators, Vol. 92, pp. 343-349, 2001.
[4] 日本規格協會編集，產業機器人，日本規格協會，東京都，2002。
[5] R. C. Goertz and R. Thompson, "Electronically Controlled Manipulator," Nucleonics, pp. 46-47, 1954.
[6] E. Niemela and T. Virvalo, "Fuzzy Logic Assisted Manual Control of Joystick Operated Hydraulic Crane," Proceedings of the Third IEEE Conference on Fuzzy Systems, 26-29 June 1994, Orlando, Florida, USA, Vol. 1, pp. 642-647, 1994.
[7] 吳俊曉，“結合虛擬實境與機器人之遠端操控系統，”國立交通大學電機與控制工程研究所碩士論文，1998。
[8] J. Yuh and G. Uchibori, "Mathematical Model of a Generalized Underwater Robotic Vehicle," Report to PICHTU. Information Technology, 1989.
[9] J. Yuh, "Modeling and Control of Underwater Robotic Vehicles," IEEE Transactions on Systems, Man and Cybernetics, Vol. 20, No. 6, pp. 1475-1483, 1990.
[10] S. McMillan, D. E. Orin and R. B. McGhee, "A Computational Framework for Simulation of Underwater Robotic Vehicle Systems," Autonomous Robots, Vol. 3, No. 2, pp. 253-268, 1996.
[11] T. J. Tarn, G. A. Shoults and S. P. Yang, "A Dynamic Model of an Underwater Vehicle with a Robotic Manipulator Using Kane's Method," Autonomous Robots, Vol. 3, No. 2, pp. 269-283, 1996.
[12] M. Ishitsuka and K. Ishii, "Development of an Underwater Manipulator Mounted for an AUV," Proceedings of OCEANS 2005 MTS/IEEE Conference, 18-23 September 2005, Washington, D.C., Vol. 2, pp. 1811-1816, 2005.
[13] Q. Zhang, A. Zhang and K. Yan, "Improved Design and Control Experiments of an Underwater Electric Manipulator," Proceedings of SICE-ICASE International Joint Conference, 18-21 October 2006, Bexco, Busan, Korea, pp. 3089-3093, 2006.
[14] L. L. Whitcomb and D. R. Yoerger, "A New Distributed Real-Time Control System for the JASON Underwater Robot," Proceedings of the 1993 IEEE IROS Conference, 26-30 July 1993, Yokohama, Japan, Vol. 1, pp. 368-374, 1993.
[15] A. C. Clegg, M. W. Dunnigan and D. M. Lane, "Self-Tuning Position and Force Control of an Underwater Hydraulic Manipulator," Proceedings of IEEE International Conference on Robotics and Automation, 21-26 May 2001, Coex, Seoul, Korea, Vol. 4, pp. 3226-3231, 2001.
[16] W. Jr. Kraus and B. J. McCarragher, "Hybrid Position/Force Coordination for Dual Arm Manipulation of Flexible Materials," Proceedings of IEEE International Conference on Robotics and Automation, 7-11 September 1997, Grenoble, France, Vol. 1, pp. 202-207, 1997.
[17] K. Jezernik, B. Curk and J. Harnik, "Observer-Based Sliding Mode Control of a Robotic Manipulator," Robotica, Vol.12, pp. 443-448, 1994.
[18] A. Sabanovic, K. Jezernik and K. Wada, "Chattering-Free Sliding Modes in Robotic Manipulators Control," Robotica, Vol. 14, pp. 17-29, 1996.
[19] B. Xu, S. R. Pandian and F. Petry, "A Sliding Mode Fuzzy Controller for Underwater Vehicle-Manipulator Systems," Proceedings of IEEE International Conference on Robotics and Automation, 22-25 June 2005, Ann Arbor, Michigan, USA, pp. 181-186, 2005.
[20] M. Ishitsuka and K. Ishii, "Development and Control of an Underwater Manipulator for AUV," Proceedings of Symposium on Underwater Technology 2007 and Workshop on Scientific Use of Submarine Cables & Related Technologies 2007, 17-20 April 2007, Meguro, Komaba, Tokyo, Japan, pp. 337-342, 2007.
[21] J. Kerdels, J. Albiez and F. Kirchner, "Sensorless Computer Control of an Underwater DC Manipulator," Proceedings of OCEANS 2008 MTS/IEEE KOBE-TECHNO-OCEAN'08 (OTO'08) Conference, 8-11 April 2008, Kobe, Japan, pp. 1-5, 2008.
[22] 徐灝，密封，冶金工業出版社，北京，1999。
[23] 顧永泉，機械密封實用技術，機械工業出版社，北京，2001。
[24] 黃志堅，現代密封技術應用，機械工業出版社，北京，2003。
[25] S. C. Jacobsen, J. E. Wood, D. F. Knutti and K. B. Biggers, "The Utah/MIT Dexterous Hand: Work in Progress," The International Journal of Robotics Research, Vol. 3, No. 4, pp. 21-50, 1984.
[26] 洪敏偉，“水下機械手臂之設計與製作，”國立中山大學機械與機電工程研究所碩士論文，2006。
[27] 江金隆，“有桿機械手設計與分析，”國立高雄第一科技大學機械與自動化工程所碩士論文，2002。
[28] 黃裕暉，“以影像伺服配合力回饋搖桿操控機械手臂，”長庚大學機械工程研究所碩士論文，2001。
[29] 陳泰安，“機器人夾爪研發於遠端呈現之應用，”國立交通大學電機與控制工程研究所碩士論文，2002。
[30] J. A. Rehg, Introduction to Robotics in CIM System, 4th Ed., Prentice Hall, USA, 1999.