目前具有實用性的服務型機器人已大舉投入消費市場，但其中具有水下清潔功能的卻很少，本研究擬設計並製作具自動清潔水缸底部功能之水下機器人，希望能應用於中大型魚缸，取代目前以人工為主的水下清潔動作。機器人設計上採創新型三角外形架構，並發展出專屬的移動與清潔機制，搭配控制系統達到自動清潔之功能。
本研究機器人可分為本體框架、移動模組、清潔模組與控制模組四個主要模組。利用位於本體框架三個角落的移動模組上的輪子，結合直線前進後退、原地轉向、頂點定點轉向三種基本的運動方式，機器人發展出14種運動模式。並藉由這些運動模式的組合與碰壁感測器的使用，規劃出機器人「弓」字形的自動清潔路徑。機器人採定點式清潔的方法，首先停在清潔區域並從清潔模組上噴出水柱將沉積於水缸底部的廢棄物翻起，接著將廢棄物連同汙水一起吸走。清潔完畢後，關閉清潔模組並待清潔區域環境趨於穩定，最後移動至下一清潔區域。
機器人原型是利用3D電腦輔助設計/製造軟體來繪製並處理機器人的各項零件，再藉由積層製造技術來製作並組裝。機器人整體尺寸為285mm×270mm×150mm。最後將所有零件組裝並進行水下實測，測試結果顯示，水下清潔機器人能依預設路徑移動並自動清潔水缸底部。

There are many practical service robots in consumer markets nowadays, but few are available for underwater cleaning. This research plans to develop an underwater robot with bottom cleaning function, which could replace the existing manual works. The robot had an innovative triangular structure, equipped with exclusive cleaning and moving mechanisms. With the integration of control system, the robot could automatically clean the bottom of the water tank.
Underwater robot in this research could be divided into four main modules— main frame, moving module, cleaning module, and control module. The moving module located at the three vertices of the triangle structure with rotatable wheels. Combining the three basic moving types, forward/backward moving, spot-turning, and vertex-turning, fourteen maneuver modes can be achieved. The zigzag cleaning path was designed based on these moving modes. The robot would move to the position and stop first before performing the cleaning job. The cleaning module jetted water to disturb and lift up the wastes on the tank bottom, and then the polluted water was extracted. After the covered area was cleaned, the robot would stop the cleaning module and stay for seconds to stabilize the environment before moving to the next position.
The robot components were designed by 3D CAD/CAM software, and manufactured by additive manufacturing technologies for prototype assembly. The overall size of the robot was 285mm×270mm×150mm. The underwater test results showed that the robot could successfully move on the expected paths and clean the bottom of the water tank.

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