| Summary: | 碩士 === 國立交通大學 === 機械工程系所 === 92 === The purpose of the research is to develop a robot which can creep in a tunnel space. The tunnel robot is designed to have the characteristics of rapidly moving, small size, simple structure and low cost. As reviewing the researches of micro-driving mechanism, most of the studies are still at the conceptual design stage . The research focus on the design of the driving mechanism system of tunnel robot firstly . Secondly, the research explores theoretical frame of the robot to evaluate feasibility and gait schedule of motion. Then, the research try to derive the equation of motion and control parameter of the robot by means of simulation and analysis of the proposed robot mechanism. By systematical examinations as above, we can conclude better control parameters for the foot gait of the tunnel robot. The profits of the research are not only to make the robot move smoothly in both straight and curved tunnel but also to verify the results of related theory. The mobility analysis of the proposed tunnel robot has been made, and the experimental results have also verified the feasibility of the mechanism and actuator modules without the components of large scale such as reducing gear train etc. By the way since the proposed mechanism and actuator are simple and efficient. It can easily be replaced by artificial muscle and minimized the size of the robot from millimeter(mm) scale to micro meter(μm) scale. It is believed that the research can be applied to many practical applications and advanced studies.
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