水下機械手臂採集樣本後, 須將目前夾持樣本釋放才能進行多次採樣。本研究主要目的為開發一套裝配於潛航器的樣本儲存裝置。藉由直線運動裝置的設計, 樣本儲存罐能夠移動至水下機械手臂的機構活動範圍, 亦能回收至潛航器內部以避免干擾潛航器航行。儲存裝置的設計可分成直線運動裝置設計、防水馬達設計、馬達通訊控制電路設計以及樣本儲存罐設計。樣本儲存罐則是透過許多不同的概念設計, 再經由決策矩評選出最佳的設計,並將其概念設計實體化。樣本儲存裝置經由設計與製作,初步測試結果已能達成直線運動裝置的移動定位。樣本儲存罐也能移動至水下機械手臂的工作範圍,並提供水下機械手臂存放樣本的功能。

For amanipulator to carry outmultiple sampling tasks in a single ROV dive, the samples collected need to be stored temporarily in a secure space to free the gripper for the next sampling. The goal of this research is to design and fabricate a sample holding device to improve the efficient of the ROV which was developed jointly by National Sun Yat-sen University and National Cheng-Kung University. The sample bay mounted on a linear track, moves forward to be in the workspace of the manipulator for the storage service. Upon completion of the sample storage tasks, it retrieves back into the ROV frame to prevent itself from being hit or damaged when the ROV is in motion. The development includes the design for a linear track, an underwater motor and its controller, and sample holder. The design of the sample holder was implemented by decision weighting matrix to choose the most appropriate prototype. The efficacy of the system was verified by several joint tests with the manipulator.

1 緒論1
1.1 研究背景1
1.2 研究目的2
1.3 文獻回顧2
1.4 論文架構6
2 設計程序7
2.1 機構模組空間規劃7
2.2 設計目標10
2.3 設計流程11
3 樣本儲存裝置設計13
3.1 傳動元件選用13
3.2 直線運動裝置設計15
3.3 防水馬達設計19
3.4 馬達通訊控制電路設計24
3.5 樣本儲存罐設計30
4 組裝與測試38
4.1 直線運動裝置與樣本儲存罐組裝38
4.2 機構測試45
4.3 結論46
5 討論及結論47
5.1 研究成果47
5.2 討論與改善48
5.3 未來展望53
附錄56
A 控制電路56
B MSP430控制程式58
C 機構零件與工程圖61

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