本篇論文主要探討在麥克納姆輪全向車發生車輪故障時的情況，並將故障情 況進行不同程度的分類。通過從感測器擷取資料，將其用來分析故障的狀態。首 先藉由電流檢測判別車輪是否故障，接著利用推導之黏滯摩擦係數來判定故障的 程度。實驗架設是藉由在馬達上增加電磁式煞車器去模擬實際車輪發生故障鎖住 的狀況，藉由控制不同程度的煞車扭力來模擬車輪各種程度的故障情況。實驗內 容為測量不同轉速在不同故障程度的參數 (轉速、電壓、電流) 的變化。研究分析 的部分分為兩個部分，第一部分是藉由觀察電流與轉速的變化，來判定是否故 障;第二部分以麥克納姆輪全向車之數學模型為基礎，推導出系統之黏滯摩擦係 數 (Viscous friction coefficient) 作為判別車輪是否完全故障的依據，並訂定出一個 通用於各種轉速的閾值來判定車輪是否完全故障。

This thesis discusses the wheel fault for a Mecanum omni-directional vehicle, and classifies the failure situation in different degrees. By extracting data from sensors, it is used to analyze the different state of the controlled fault. Firstly, the wheel fault was de- termined by current detection, and then the degree of fault was determined by the deduced viscous friction coefficient. The experiment is set up by adding electromagnetic brake on the motor to simulate the actual wheel failure locking condition, by controlling different degrees of brake torque to simulate the wheel of various degrees of failure. The exper- imental content is to measure the change of parameters (speed, voltage and current) of different speed in different fault degrees. The research and analysis is done by observing the change between the current and speed, to determine whether a fault is present, then by using the mathematical model of our omni-directional kinematics, the Viscous friction coefficient, which represents the state of the system, is derived to determine the various degree of fault introduced to the system.

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