現今大海仍然是充滿未知的領域，包含水下考古及採樣工作。由於在海下的風險一直是潛水人員可能面臨的危機，因此人們研發了遠端遙控水下載具 (Remotely Operated Vehicle)與水下機械手臂取代潛水員，以完成水下作業。而本研究目的在於為了使水下考古探勘更加便利更加安全，開發一套水下機械手臂。
水下機械手臂設計使用Rhino5 3D繪圖軟體來繪製機構及零件，以多軸式馬達控制方式，使機械手臂達到延展與彎曲的效果，提升水下操作能力，可更有效地執行水下考古之作業；本研究將各軸複雜的電路、馬達控制置入接線盒中，整合MyRIO控制面板，使整體空間上更為妥善，並達到水下機械手臂易於裝修的特性；傳動部分以直流馬達搭配編碼器為主，降低機械手臂之負載慣量，提高其扭矩來達到機械手臂精密的操作，而在關節傳動採用蝸桿蝸輪，達到平穩的輸出效果，運動控制方面利用Jacobian矩陣座標轉換，以控制各軸轉動。為了得知水下機械手臂工作區間與軌跡追蹤，採用Matlab Robotic Toolbox以及Labview軟體進行模擬，並模擬裝載於無人水下載具去作分析，而硬體模型則採用3D列印方式進行製作，操作硬體模型的人機介面將採用Labview軟體去控制。
本研究成果將提升水下考古之作業能力，並搭配其他海下作業研究，增加在學術領域上的應用。

Today the sea is still full of unknown fields, including underwater archaeology and sampling work. Because the risk under the sea has always been a possible crisis for divers, people have developed underwater remotely operated vehicles and underwater manipulator to replace divers to complete underwater operations. The purpose of this research is to make underwater archaeological exploration lighter and safer.
To improve the accuracy of the operator's judgment on the size of the image; the underwater manipulator's mechanism and parts are designed by Rhino5 3D software, and the multi-axis motor controller enables the underwater manipulator to achieve the effect of extension and bending, enhances the underwater operation ability, and it is hoped that underwater archaeological operations can be performed more easily. In this study, the transmission part is DC motors with encoders. Mainly, reduce the load inertia of the underwater manipulator and increase its budget to achieve the precise operation of the underwater manipulator.The transmission between the bearings uses a worm and wheel to achieve a smooth output effect. In the motion control, the Jacobian matrix coordinate conversion is used to calculate the rotation of each axis motor, so that each axis can be controlled at the same time; In order to know the workspace and trajectory of the underwater manipulator, Matlab Robotic Toolbox and Labview software are used for simulation, and the simulation is loaded on ROV and AUV for analysis, and the underwater manipulator model is made by 3D printing, and the man-machine interface for operating the underwater manipulator model will be controlled by Labview software.
The results of this research will enhance the operational capabilities of underwater archaeology, combined with other underwater operations research, and increase the application in the academic field.

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