基於磁吸附與全向輪技術的鋼結構攀爬機器人開發與驗證

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鄧昀禎(Yun-Zhen Teng) 查詢紙本館藏

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論文名稱

基於磁吸附與全向輪技術的鋼結構攀爬機器人開發與驗證
(Development and Validation of a Steel Structure Climbing Robot Based on Magnetic Adhesion and Omnidirectional Wheel Technology)

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至系統瀏覽論文 (2026-6-30以後開放)

摘要(中)

在鋼結構建築中，定期檢測和維護是確保結構安全和延長使用壽命的重要措施。然而，
鋼結構通常位於高處或難以觸及的地方，使得檢測過程變得複雜且有一定的危險性。
傳統的檢測和維修方式不僅需要大量人力和資源投入，且在鋼結構上進行吊掛做也具
有一定的危險性。為了解決這些問題，本研究開發了一款基於磁吸附與全向輪技術的
鋼結構攀爬機器人，以提高檢測效率並減少人力需求。本研究的目的是設計並驗證一
款結合全向輪與磁吸技術的攀爬機器人，該機器人能夠在鋼結構表面靈活移動並穩定
附著。透過全向輪機制，機器人能適應不同地形，在鋼結構上進行全方位的靈活移動，
遇到螺栓障礙時可以用橫向移動配合旋轉繞開；在比較狹小的空間也可以利用車體橫
向移動通過。在技術和方法方面，研究使用 3D 列印技術設計機器人的主要部分，確認
設計可以實現後，再使用鋁合金訂製而成輕量又具有高強度的機身。實驗結果顯示，
所設計的機器人在不同重量下的磁吸附力、不同角度的爬行能力、穿越螺栓的能力、
負載測試和爬行速度等方面均有良好表現。實驗結果表明，機器人的麥克納姆輪機制
顯著提高了其適應不同鋼結構上攀爬的能力，開發過程中，經歷了五個版本的設計，
使機器人可以更穩定吸附在牆面上為目標，並且能夠達到更快速、更高負載以及更靈
活的機動性。最後通過一系列實驗驗證了其性能和穩定性。未來，該機器人有望應用
於鋼結構檢測中，提供安全、高效的解決方案。
關鍵字：鋼結構檢測、攀爬機器人、磁吸附技術、全向輪、3D 列印

摘要(英)

In steel structure buildings, regular inspection and maintenance are crucial for ensuring
structural safety and prolonging service life. However, steel structures are often located at high
or hard-to-reach places, making the inspection process complex and hazardous. Traditional
inspection methods require significant manpower and resources and pose dangers when
working at heights. To address these issues, this study developed a steel structure climbing
robot based on magnetic adhesion and omnidirectional wheel technology to enhance inspection
efficiency and reduce manpower requirements.The objective of this study is to design and
validate a climbing robot that combines omnidirectional wheels and magnetic adhesion
technology. This robot can move flexibly and adhere stably to steel surfaces. Through the
omnidirectional wheel mechanism, the robot can adapt to various terrains and perform flexible
movements in all directions on steel structures.The study used 3D printing technology to design
the main parts of the robot. After confirming the design′s feasibility, the robot body was custom-
made with lightweight yet high-strength aluminum alloy. Experimental results show that the
designed robot performs well in terms of magnetic adhesion under different weights, crawling
ability at various angles, ability to traverse bolt spacing, load testing, and crawling speed.The
experimental results demonstrate that the Mecanum wheel mechanism of the robot significantly
enhances its ability to adapt to climbing on different steel structures. The development process
included five design iterations, aiming for the robot to achieve more stable adhesion to the walls,
faster movement, higher load capacity, and greater flexibility. Finally, a series of experiments
validated its performance and stability. In the future, this robot is expected to be applied in steel
structure inspections, providing a safe and efficient solution.
Keywords: Steel Structure Inspection, Climbing Robot, Magnetic Adhesion, Omnidirectional
Wheel, 3D Printing

關鍵字(中)

★ 鋼結構檢測
★ 攀爬機器人
★ 全向輪
★ 磁吸附技術
★ 3D 列印

關鍵字(英)

★ Steel Structure Inspection
★ Omnidirectional Wheel
★ Magnetic Adhesion
★ Climbing Robot
★ 3D Printing

論文目次

摘要 ........................................................................................................................................I
ABSTRACT.......................................................................................................................... II
致謝 ..................................................................................................................................... III
目錄 ..................................................................................................................................... IV
圖目錄 ................................................................................................................................. VI
表目錄 .............................................................................................................................. VIII
一、緒論 ......................................................................................................................... 1
1-1 研究背景與動機 ......................................................................................................... 1
1-2 研究目的 ..................................................................................................................... 1
1-3 論文架構 ..................................................................................................................... 3
二、文獻回顧 ................................................................................................................. 4
2-1 現有攀爬機器人技術 ................................................................................................. 4
2-2 磁吸附攀爬機器人 ..................................................................................................... 6
2-3 全向輪設計與其發展潛力 ......................................................................................... 8
2-4 磁吸附與全向輪技術的結合 ..................................................................................... 9
三、研究方法 ............................................................................................................... 11
3-1 全向磁吸附攀爬機器人設計與實作 ....................................................................... 11
3-1-1 機器人設計概念與運動模式 ........................................................................... 12
3-1-2 機構設計與元件組成 ....................................................................................... 16
3-1-3 磁吸附設計 ....................................................................................................... 20
3-1-4 機電整合設計規劃 ........................................................................................... 23
3-2 靜力平衡方法與傾倒分析 ....................................................................................... 26
V
3-2-1 電池配置位置 ................................................................................................... 27
3-2-2 機器人運動力平衡與傾倒分析 ....................................................................... 28
3-3 機器人演算法與程式架構 ....................................................................................... 31
3-3-1 控制方式與機器人操作介面 ........................................................................... 34
四、實驗規劃與設計 ................................................................................................... 35
4-1 全向輪磁吸附著力測試 ........................................................................................... 37
4-2 不同角度的爬行能力實驗 ....................................................................................... 38
4-3 通過螺栓攀爬實驗 ................................................................................................... 39
4-4 車子負載測試 ........................................................................................................... 41
4-5 爬行速度實驗 ........................................................................................................... 42
4-6 實際結構物攀爬能力測試 ....................................................................................... 43
五、實驗與分析結果討論 ........................................................................................... 44
5-1 全向輪磁吸附著力測試結果與討論 ....................................................................... 44
5-2 不同角度的爬行能力實驗結果與討論 ................................................................... 45
5-3 通過螺栓攀爬實驗結果與討論 ............................................................................... 48
5-4 車子負載測試結果與討論 ....................................................................................... 49
5-5 爬行速度實驗結果與討論 ....................................................................................... 51
5-6 實際結構物攀爬能力測試結果與討論 ................................................................... 52
5-7 討論與結果比較 ....................................................................................................... 54
六、結論與未來建議 ................................................................................................... 56
6-1 結論 ........................................................................................................................... 56
6-2 本研究之未來建議與改善方向 ............................................................................... 56
參考文獻 ............................................................................................................................. 58
VI
圖目錄
圖 3-1 OMACR 開發流程架構 ............................................................................................... 11
圖 3-2 全向輪磁吸攀爬機器人 OMACR 的三種運動模式 .................................................. 14
圖 3-3 麥克納姆倫車的移動方向 ........................................................................................... 14
圖 3-4 (a) OMACR 的 3D 介紹圖(b) OMACR 的實體圖 ...................................................... 17
圖 3-5 7075-T7451 鋁合金車體 3D 透視圖 ........................................................................... 19
圖 3-6 (a)一個磁鐵吸附元件 (b) OMACR 的車底俯視圖 .................................................... 21
圖 3-7 直徑 10mm 厚度 2mm 之 N52 磁鐵 ............................................................................ 22
圖 3-8 機電整合規劃設計圖 ................................................................................................... 24
圖 3-9 TB6612 伺服馬達控制板 ............................................................................................ 25
圖 3-10 HM-GM37-3429 永磁碳刷直流減速馬達 ............................................................... 26
圖 3-11 OMACR 吸附在鋼結構平面上的示意圖.................................................................. 27
圖 3-12 OMACR 的電池配置示意圖 ..................................................................................... 28
圖 3-13 吸附在牆面時的斷面圖與之對應下視圖 ................................................................. 29
圖 3-14 假設兩顆磁鐵失效時吸附在牆面時的斷面圖與之對應下視圖 ............................. 30
圖 3-15 OMACR 的軟體架構圖 ............................................................................................. 32
圖 3-16 V7RC 手機應用程式 .................................................................................................. 34
圖 4-1(a) 模擬 45 度斜坡的 L 形狀鋼板的俯視圖(b) 模擬 45 度斜坡的 L 形狀鋼板的側視
圖(c)模擬 90 度垂直牆面的 L 形狀鋼板(d)模擬天花板的 L 形狀鋼板 ........................... 35
圖 4-2 L 形狀鋼板的工程圖(a)不等角視圖(b)正視圖(c)側視圖 ......................................... 36
圖 4-3 室外鋼箱梁實景 ........................................................................................................... 37
圖 4-4 全向輪磁吸附著力測試實驗方法示意圖(a)垂直車體的拉力(b)水平車子的拉力(c)
工程圖 .................................................................................................................................. 37
圖 4-5 不同角度的爬行能力實驗示意圖(a) 45 度傾斜鋼板(b) 90 度垂直鋼板(c) 水平鋼板
.............................................................................................................................................. 39
VII
圖 4-6 通過螺栓攀爬實驗示意圖(a)case1 整排螺栓跨越(b)case2 跨越螺栓間................... 40
圖 4-7 車子負載測試實驗工程示意圖 ................................................................................... 41
圖 4-8 爬行速度實驗的工程示意圖 ....................................................................................... 42
圖 4-9 全向輪穩定實驗環境實景(a)實驗室的柱(b) 室外鋼箱梁 ......................................... 43
圖 5-1 不同傾斜角度下的吸附力散點圖 ............................................................................... 44
圖 5-2 在 45 度鋼板上的爬行能力實驗紀錄影格 ................................................................. 46
圖 5-3 在 90 度鋼板上的爬行能力實驗紀錄影格 ................................................................. 46
圖 5-4 在水平鋼板(天花板)上的爬行能力實驗紀錄影格 .................................................... 47
圖 5-5case1 整排螺栓跨越實驗紀錄影格 .............................................................................. 48
圖 5-6 case2 跨越螺栓間實驗紀錄影格 ................................................................................. 49
圖 5-7 不同角度鋼板上 OMACR 的負載能力柱狀圖........................................................... 50
圖 5-8 不同角度鋼板上的爬行速度折線圖 ........................................................................... 51
圖 5-9 實驗室的柱上爬行實驗紀錄影格 ............................................................................... 53
圖 5-10 室外鋼箱梁爬行實驗紀錄影格 ................................................................................. 53
VIII
表目錄
表 3-1 麥克納姆輪橫向移動理論值參數表 ........................................................................... 16
表 3-2 OMACR 的零組件清單 ............................................................................................... 17
表 3-3 列印材料比較表 ........................................................................................................... 19
表 3-4 磁鐵吸附力理論值參數 ............................................................................................... 22
表 3-5 TB6612 規格表 ............................................................................................................. 25
表 3-6 HM-GM37-3429 永磁碳刷直流減速馬達規格表 .................................................... 26
表 3-7 OMACR 的運動力平衡分析理論值參數表 ............................................................... 29
表 3-8 OMACR 在缺少兩顆磁鐵時的運動力平衡分析理論值參數表 ............................... 31
表 3-9 OMACR 的控制演算法 ............................................................................................... 33

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指導教授

林子軒(Tzu-Hsuan Lin)

審核日期

2024-7-30

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