現今，水下玻璃帷幕或大型魚缸主要由人工的方式來進行清潔，而現行的水下清潔機器人，採對稱結構，因此需要數顆馬達和複雜的控制系統使機器人直線移動。本研究中將創新的三角架構概念應用在水下清潔機器人，進而達到平面的清潔，亦可符合低成本低耗能之訴求。
三角外型機器人有三個曲線外殼，清潔圓柱則裝在三個角上。每面殼上各裝置一顆直流馬達，而機器人中央裝置一顆馬達負責Z軸方向的移動。當其中兩個角接觸到平面後，僅需一顆馬達即能使機器人同時貼著牆面並前進。其兩角上的清潔圓柱與牆面所產生的摩擦力將可提高該面積的清潔效果，當機器人到達水槽角落時，由應變計所製成的感測器將啟動另一顆馬達，使機器人為下一道牆面之清潔而轉向。在完成每一道牆面清潔之後，Z軸的馬達可將機器人調整到不同的高度做進一步的清潔。藉由簡單且經濟的達靈頓積體電路與繼電器來控制馬達，而控制系統可分為自動與手動。機器人整體尺寸為270×250×120 mm，並使用OBJET EDEN 330 快速原型機系統與快速模具製作原型零件。經由水下的測試，機器人可成功地逐一清潔各道牆面並移動到下一個垂直位置進行下一層的清潔。

Nowadays underwater cleaning of glass walls of the underwater exhibition or large fish tanks is mainly done by manual work. The existing underwater cleaning robots, with symmetrical structures, need several motors and complicated control systems to make them moving in a straight line. In this research, an innovative triangular-frame concept was adopted to design the underwater cleaning robot in order to clean flat wall and to meet low cost and low energy consumption purposes.
The triangular robot had three curved shell and cleaning cylinders at the corners. Each shell had a DC motor attached to it, and one motor was placed in the center for Z-axis movement. With this structure, when two corners contact the flat glass wall, only one motor was needed to move the robot along the wall and push the robot toward the wall at the same time. The friction between the wall and the cleaning cylinders at two corners could improve the cleaning effect in the wiped area. When the robot reached the tank corner, the sensor made with strain gauge would activate the other motor to turn the robot for the next wall cleaning. After finishing each wall, the Z-axis motor can adjust the robot to different height for further cleaning. Simple and economical Darlington IC and relay were utilized to control motors. The system was designed to be controlled automatically or manually. The overall size of the robot is 270x250x120mm. Prototype components were manufactured by OBJET EDEN 330 Rapid Prototype system and rapid tooling approach. The underwater tests showed that the robot could successfully clean the walls one by one and move to the next vertical position for next-layer cleaning.

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