對於大部分人類駕駛的載具，在不平坦的地形上移動是困難的一件事。尤其對於輪椅及它的使用者來說更是困難重重。如果這些載具移動到這些粗糙的地形上，將會在行動上受到限制。因此必須要找到一個有效的解決方案來解決這個問題。
工程設計方法提供了一個有效去處理這個問題的答案。工程設計方法對於工程設計來說作出了寶貴的貢獻。藉由這套方法，可以有效地設計及製作想要的產品。
論文研究中製作出一台三輪機動履帶載具。這輛載具可以在平坦的路面上移動、跨越障礙物以及上下樓梯。這台載具裝備上一對履帶臂, 這對履帶臂可以準確地控制機器人的外型來應對不同的地形。因此這台載具可以藉由擺動它的一對履帶臂來跨越障礙物以及上下樓梯。這台載具擁有三種駕駛模式: 平坦、不平坦及攀爬模式。可以簡單地用平板電腦來操控並選擇這台載具的駕駛模式。載具在自身的機構協助下，可以克服大部分地形。

Motion in uneven terrain is difficult for most vehicles which are operated by human. It is properly very difficult for the wheelchairs and their users in particular. If the wheelchairs move in rough and unstructured terrain, their locomotion will be limited. So it’s important to find one efficient solution to solve this problem.
Engineering design methods offer an efficient answer to solve this problem. Engineering design methods are a valuable contribution to the engineering design literature. With this method, we can effectively design and make what we want.
This paper presents a three-wheeled mobile tracked vehicle that is able to move on even terrain and uneven terrain, and climb up and down the stairs. This vehicle is equipped with a pair of tracked arms that can accurately change the robot shapes for different terrains. So the vehicle becomes possible for crossing the obstacles, climbing up and down the stairs by waving two tracked arms. The vehicle has three riding modes, Even, Uneven and Climbing mod. The systems can easily control the vehicle for choosing the riding modes by using Tablet PC. With its mechanical composition the vehicle can conquer most of terrains.

論文審定書…………………....……………………...………………………………….i
致謝..……………....……………………...………………………………….ii
摘要……………………………………………...…………………………….iii
Abstract……………....……………………………………………………………..iv
第一章 緒論………………………………………..……………………………….1
1-1研究背景與動機……….………………….……………………………….……1
1-2 研究目的與方法……………………………………...…………….………….2
1-3文獻探討…..…………………………………………...…………….………….2
1-4論文架構………………………………….………………………….………….6
第二章 工程設計方法……………………...………………………………………8
2-1工程設計方法程序................................................................................................8
2-2確認機會............................................................................................................10
2-3闡明目標.............................................................................................13
2-4建立功能.................................................................................................14
2-5設定需求..........................................................................16
2-6決定特性.........................................................................................19
2-6-1加權目標法............................................................................19
2-6-2品質機能展開法......................................................................................20
2-7產生設計構想.............................................................................................23
2-7-1方案一說明............................................................................................24
2-7-2方案二說明............................................................................................27
2-7-3方案三說明............................................................................................29
2-8評價方案.............................................................................................31
2-9改善細部設計.............................................................................................36
2-9-1載具外型骨架修改..................................................................................36
2-9-2尾輪修改............................................................................................37
2-9-3座椅姿態修改..........................................................................................38
第三章 載具的運動模型物理分析........................................................................ 40
3-1連桿裝置.............................................................................................................40
3-1-1四連桿裝置..................................................................................41
3-1-2六連桿裝置..................................................................................43
3-2攀爬上樓梯…………...………………………………….…………….44
3-3攀爬下樓梯.............................................................................47
3-4三角凸輪.............................................................................49
第四章 實體製作.........................................................................................................51
4-1系統架構…………………….………………………………………51
4-2骨架及連桿裝置……………………………………………………….51
4-2-1鋁合金骨架………………………………………………………….52
4-2-2 3D列印機………………………………………………………….52
4-2-3四連桿變形手臂……………………………………………………….53
4-2-4六連桿變形座椅……………………………………………………….55
4-2-5四連桿變形尾輪……………………………………………………….55
4-3致動器與動力來源…………………………………………………………….56
4-3-1無刷輪轂馬達………………………………………………………….56
4-3-2直流馬達………………………………………………………….57
4-3-3電子螺桿……………………………………………………….58
4-3-4電池………………………………………………………….58
4-3-5電動車用保險絲………………………………………………….61
4-4感測模組………………………………………………………………….61
4-4-1電阻尺……………………………………………………………….61
4-4-2光電感測器…………………………………………………………….62
4-5控制與通訊………………………………………………...………….63
4-5-1 Arduino控制器…………………………………………………….65
4-5-2 PID回授控制…………………………………………………….66
4-5-3馬達控制器……………………………………………………….66
4-5-4藍芽通訊模組……………………………………………………….68
4-6操作介面………………………………………………...………….69
4-6-1操作手把…………………………………………………….69
4-6-2智慧型平板…………………………………………………….70
4-6-3 Android程式介面…………………………………………….71
第五章 實體測試………………………………………………………….73
5-1高度抬升………………………………………………………………………73
5-2座椅角度改變……………………………………………………….……...….74
5-3平地移動(輪轂馬達)…………………………………………………………75
5-4平地移動(履帶)…………………………………………………….……...….75
5-5上樓跨越一階台階(18cm)……………………………………………………76
5-6下樓跨越一階台階(18cm)………………………………………….……...….77
第六章 結論與未來展望………………………………………………………….78
參考文獻…………………………………………………………….……...………….79
附件…………………………………………………………….……...………….82
個人簡歷…………………………………………………………….……...………….86

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[24] Solidoodle 2nd列印機規格表：附件1
[25] 雙面齒皮帶的規格表：附件2
[26] XAJONG全重之M35系列直流馬達規格表：附件3
[27] 上銀之Las3-1系列電子螺桿規格表：附件4
[28] YUASA湯淺12V-80AH免加水鉛酸電池：附件5
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http://www.aliexpress.com/item/Ktc-225mm-electronic-scale-injection-molding-machine-electronic-scale-trolley-electronic-scale-displacement-sensor/1063576618.html
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http://www.avagotech.com/pages/home/
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