隨著都市建築密集化發展，建築物外牆檢測與維護的重要性日益提升，特別是磁磚外牆因年久失修或環境因素導致磁磚剝落，可能造成財產損失與人員傷害，此類事件發生頻率也日漸提高。傳統外牆檢修作業多仰賴高空作業人員進行吊掛，不僅風險極高，且耗時耗力、人力成本高昂。因此本研究希望設計一款具備越梁能力的磁磚外牆攀爬機器人。 本研究的整體設計採用吸盤連桿機構作為主體架構，搭配多軸伺服馬達作為關節，以實現機器人穩定吸附於磁磚牆面並執行跨越梁體的複雜動作。機構設計階段導3D建模與動作模擬技術，針對不同梁尺寸進行模擬得出可穩定越梁的最小機構尺寸組合。在製作方面，除橡膠吸盤與機電元件外，其餘零件皆以3D列印技術製作，以實現輕量化與快速迭代設計的需求。 機器人採用多階段運動模式規劃，將越梁過程分為「釋放吸附」、「連桿翻轉」、「重新吸附」等動作。為驗證機體動作之可行性，本研究進行實體原型機製作與牆面越梁試驗，測試項目包含吸附穩定性、關節承受扭矩需求等指標。 研究結果顯示，此機器人可有效克服一般建築磁磚外牆之突出矩形梁障礙，具備高度穩定性與機構靈活度，顯示本設計具備應用於高風險環境建築檢修與自動化檢測之潛力，為未來無人化建築維護作業提供一項具體可行的創新解決方案。 ;With the increasing density of urban development, the inspection and maintenance of building façades have become increasingly important. Tiled exterior walls are prone to damage or tile detachment due to aging or environmental factors, which may lead to injuries or property loss. These incidents are becoming more frequent. Traditional inspection methods rely on suspended work at height, which involves high risk, significant labor, and high costs. To address these issues, this study proposes a climbing robot capable of traversing tiled walls and overcoming protruding beams. The robot features a suction cup-linkage mechanism as its core structure, combined with multi-axis servo motors to enable stable wall adhesion and complex beam-crossing motions. During the design process, 3D modeling and motion simulation were used to determine the minimum required structure dimensions for reliable traversal. Except for suction and motor components, all structural parts were produced using 3D printing, achieving both lightweight design and rapid prototyping. A multi-phase motion strategy was developed, dividing the beam-crossing process into stages including suction release, linkage rotation, and reattachment. To validate the concept, a physical prototype was built and tested in wall-climbing and beam-crossing scenarios. Key performance metrics such as adhesion stability and joint torque requirements were evaluated. The results demonstrate that the proposed robot can effectively overcome typical beam obstacles on tiled building façades. The design shows strong potential for use in high-risk inspection and maintenance tasks, offering a safer and more efficient alternative to traditional methods.
