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研究生：	劉彥杰 Liu, Yen-chieh
論文名稱：	機器魚實作 The Development of A Robotic Fish
指導教授：	周榮華 Chou, Jung-hua
學位類別：	碩士 Master
系所名稱：	工學院 - 工程科學系 Department of Engineering Science
論文出版年：	2008
畢業學年度：	96
語文別：	中文
論文頁數：	58
中文關鍵詞：	水下機器人、魚型機器人
外文關鍵詞：	underwater robot, robotic fish
相關次數：	點閱：77 下載：5
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本論文的研究目是研發出可以在水中活動的機器人。水中機器人的推進動力來源有許多種，如螺旋槳、水中噴射引擎、仿生(如魚、水母)等許多種方式。本論文使用魚類仿生的方式作為水中機器人的推進系統，並利用防水材料，並配合機構設計與電路整合實現魚型機器人。
機器人以單晶片(PIC16F877)為控制中心，控制機器人的游泳姿態，變換運動的模式；而遙控器為人機介面，讓使用者可以對機器人下達指令，執行所要求的動作。本論文並探討不同型態的泳姿對魚型機器人所造成的影響，因此實作出兩種不同泳態的魚型機器人，一種為利用尾鰭擺動作為推進的動力來源，另一種則利用胸鰭作為推進的動力來源，且對兩者作比較，探討並分析各自的優缺點。

The purpose of this thesis is to develop an underwater robot. Underwater robot's propulsive power has many kinds, including propeller, turbine engine, artificial creature-like robot (such as fish, jellyfish), and so on. This study develops a fish-like robot by using the waterproof material, electronic devices, mechanism design and control to fulfill the goal.
The robot uses a microchip (PIC16F877) as the control center which controls robot's swimming posture, and movement pattern. In addition, by using the remote control as Man-Machine-Interface, a user is able to give the orders to the robot which carries out the movement upon requests. In other words, different swimming postures affect the fish robots which are discussed. Two kinds of different swimming states are developed, one uses the caudal fin swinging as the propulsive power, and the other uses the pectoral fin swinging as propulsive power.

中文摘要................................ ................................ ................................ ........................... I
Abstract................................ ................................ ................................ ............................ II
誌謝................................ ................................ ................................ ................................ Ⅲ
目錄................................ ................................ ................................ ................................ Ⅳ
表目錄................................ ................................ ................................ ............................ Ⅵ
圖目錄................................ ................................ ................................ ...........................VII
第一章緒論................................ ................................ ................................ ..................... 1
1 前言................................ ................................ ................................ ..................... 1
2 研究目的................................ ................................ ................................ ............. 1
3 文獻回顧................................ ................................ ................................ ............. 2
4 論文架構................................ ................................ ................................ ............. 3
第二章系統架構與軟硬體設備................................ ................................ ...................... 5
1 整體系統構思................................ ................................ ................................ ..... 5
2 硬體與功能................................ ................................ ................................ ......... 6
2.1 機器人外殼................................ ................................ ............................... 6
2.2 直流馬達................................ ................................ ................................ .. 7
2.3 步進馬達................................ ................................ ................................ .......... 8
2.4 壓按開關................................ ................................ ................................ 11
2.5 無線通訊模組................................ ................................ ......................... 12
3 控制晶片與軟體架構................................ ................................ ........................ 13
3.1 PIC16F877 簡介................................ ................................ ............................. 13
3.2 通訊協定與程式架構................................ ................................ ............. 15
第三章魚型機器人................................ ................................ ................................ ....... 20
1 尾鰭推進魚型機器人................................ ................................ ........................ 20
1.1 尾鰭推進魚型機器人之身體................................ ................................ .. 20
1.2 尾鰭推進魚型機器人之尾鰭................................ ................................ .. 22
1.3 尾鰭推進魚型機器人之胸鰭................................ ................................ .. 23
1.4 尾鰭推進魚型機器人之避障機制................................ .......................... 24
1.5 尾鰭推進魚型機器人之遙控介面................................ .......................... 25
2 胸鰭推進魚型機器人................................ ................................ ........................ 26
2.1 胸鰭推進魚型機器人之身體................................ ................................ .. 26
2.2 胸鰭推進魚型機器人之尾鰭................................ ................................ .. 27
2.3 胸鰭推進魚型機器人之胸鰭................................ ................................ .. 28
2.4 胸鰭推進魚型機器人之遙控介面................................ .......................... 30
第四章實驗與結果................................ ................................ ................................ ....... 32
1 機器人水中直線泳速測試................................ ................................ ................ 32
1.1 實驗方法................................ ................................ ................................ 32
1.2 實驗結果與討論................................ ................................ ..................... 34
2 機器人水中實際測試................................ ................................ ........................ 37
2.1 尾鰭推進魚型機器人實測................................ ................................ ..... 37
2.2 胸鰭推進魚型機器人實測................................ ................................ ..... 43
3 機器人水中迴轉半徑測試................................ ................................ ................ 45
3.1 實驗方法................................ ................................ ................................ 45
3.2 實驗結果與討論................................ ................................ ..................... 46
4 機器人水中碰撞測試................................ ................................ ........................ 47
5 渦漩觀測................................ ................................ ................................ ........... 49
第五章結論與建議................................ ................................ ................................ ....... 53
1 結論................................ ................................ ................................ ................... 53
2 建議................................ ................................ ................................ ................... 54
参考文獻................................ ................................ ................................ ........................ 55
附錄................................ ................................ ................................ ................................ 57
自述................................ ................................ ................................ ................................ 58
                                    

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校內：立即公開
校外：2008-09-02公開

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