本論文設計具有移動於地面及桌面之雙機器人系統，由機械手臂數學模型建立軸之間的幾何關係，使用PID控制器控制車輪轉速，升降平台的傳動機構設計使平台能升降，經由上述來進行實作。其中之一為具機械手臂之移動機器人，其具有抓取物品之能力；另一為升降平台之移動機器人，其具有將前者由地面載至桌面或由桌面載至地面之能力，使得抓取任務可於地面及桌面執行。
升降平台表面採用噴砂加工增加摩擦力其距離地面最低高度10mm，使機械手臂之移動機器人可移動至升降平台後，透過鏈條齒輪之傳動機構設計，使馬達轉動轉換為平台的升降移動，使前者可以由地面移至桌面，或反之。透過實驗結果驗證本論文設計的雙機器人系統具有移動於地面及桌面進行抓取任務之能力。

This research proposes the design of a dual-robot system capable of mobility on both the ground and tabletop. Establish the geometric relationship between the axes through a mathematical model of a robotic arm. Utilize a PID controller to regulate the wheel rotation speeds. Design a transmission mechanism for the lifting platform to enable its elevation. Implement based on the above description. The mobile robot with a robotic arm possesses the capability to execute object grasping tasks while the mobile robot with the lifting platform demonstrates the ability to transport the mobile robot with the robotic arm to the tabletop. Enabling the execution of grasping tasks on both the ground and tabletop.
The surface of the lifting platform incorporates sandblasting processing to enhance friction. Maintaining a minimum distance of 10mm from the ground. Using the mobile board to move the mobile robot with the robotic arm to the lifting platform. The design incorporates a transmission mechanism based on chains and gears. This design translates the motor's rotational motion into vertical movement of the platform. The experimental results validate the capability of the dual-robot system designed in this research to perform grasping tasks on both ground and tabletop surfaces.

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