在最近幾年來，水下清潔機器人的發展相較於應用在陸地上者仍然是較少的。而現階段的水下清潔機器人主要專注於大範圍的水下區域且體積較大，較不適合應用於某些小區域的清潔，像是家用清潔或是魚缸、水族箱等。因此本研究致力於縮小水下清潔機器人之體積，並提升操控性，使其能應付更多場合的水下清潔。
本研究之小型水下清潔機器人共有兩種設計，兩者間之差異主要為移動方式，一種為利用車輪移動另一種則使用螺旋槳。兩者之壁面清潔方式皆是藉由吸附裝置使機器人吸附於清潔壁面，再以清潔裝置擦拭壁面髒汙以達到清潔效果。螺旋槳採用之剖面為NACA4412葉形，並搭配馬達做水下實測以得到適合該馬達之設計參數。在控制方面，兩者皆以相同之微處理器為核心，但設計一以三種感測器來輔助控制，設計二則有手動與預設路徑兩種模式切換。在構造上，設計一採緊湊式設計，將吸附、移動、清潔與控制整合成一體，設計二則分別把設計一的四個主要部分模組化，以方便維修或更換。機器人之原型乃是以3D電腦輔助設計軟體繪製機器人之外殼、零件以及模具，再藉由快速原型系統製作，其中若需要較佳機械性質之元件則使用SDM製程製作，最後將所有零件組裝並進行水下實測。測試之結果，設計一的輪軸部分會有滲水之情況，因而影響機器人的平衡並且產生一些控制上的問題。設計二則擁有158x143x87 mm的小體積，使其在手動清潔時，在清潔效率與靈敏度都有不錯之效果。

In the recent years, the developments of underwater cleaning robots are less than those working on land. The existing underwater cleaning robots are mainly focused on wide-range cleaning with large sizes, which are not suitable for certain small-region cleanings such as household and aquarium fish tanks. Therefore, this study attempted to reduce the volume of underwater cleaning robot and to improve its maneuverability in order to meet more underwater cleaning demands.
There are two designs in this study. The main difference between the two is the method for moving—one using wheels, and the other using propellers. Both designs utilized rotors as the attachment device to attach the robot to the wall and started to wipe the wall by cleaning devices. The section of the propellers used was based on NACA4412 shape, and the proper design parameters were obtained after underwater tests with motors. The Design 1 applied three types of sensors to assist robot controls, while the Design 2 implemented two control modes, manual or preset-path, for switching. As for the structure, the Design 1 adopted compact design to integrate attachment, moving, cleaning and control units in a whole. However, the Design 2 modularized above units for easier repair or replacement. The 3D CAD software was used to design robot’s outer shell, components, and the required molds. Rapid prototyping techniques were utilized to generate parts and molds for robot prototypes. Finally, the robot prototypes were assembled and underwater tested. The results showed that the Design 1 with leaking problem at the wheel axles resulted in unbalance of the robot and introduced control issues. On the other hand, the Design 2, with the small size of 158x143x87 mm, could achieve cleaning efficiency and agileness in the manual mode

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