目前的水下清潔工作，如水下展場的玻璃帷幕或是中大型魚缸，多以人工方式進行清潔，並無適當之微小型水下清潔機器人滿足清潔需求。因此，本研究擬設計並製作具自動清潔側壁功能之微小型水下清潔機器人原型。設計的概念，採用創新且簡單的三角形架構與系統整合，搭配簡易的操控模式與路徑規畫，達到預定清潔之功能。
本研究設計水下清潔機器人各側邊中分別安置兩組推進器，以雙馬達驅動正逆螺旋槳來抵銷單一螺旋槳所產生之力矩。此外推進模組能夠藉由伺服機轉動某角度，帶動水下清潔機器人之升降運動。此設計概念取代以往將Z軸推進器設計在底部，因此在腔體中能夠容納更多的電路驅動模組，以及往後底部運用的空間。在自動清潔過程中，將兩片應變計貼附於PI材料上下表面，並安置於水下清潔機器人三角外型各頂點處，做為角落處感測訊號來源。至於清潔模組主要將清潔墊設計為大面積並同時考量角落處清潔方式，除此之外可以利用清潔模組中的空心圓柱進行水下配重，使水下清潔機器人達到中性平衡狀態。水下機器人之外殼、零件以及模具，藉由快速原型技術來製作，整體的尺寸為250mm×220mm×80mm。最後將所有零件組裝並進行水下實測，測試結果顯示，水下清潔機器人不僅能在手動控制模式下清潔側壁，更可依照預定的路徑自動清潔

Nowadays the underwater cleaning of the exhibition glass walls in aquariums or large fish tanks is mainly done by manual work. There is no suitable small-scale underwater cleaning robot for this purpose. Therefore, this research plans to design and manufacture a prototype of a small-scale underwater cleaning robot with automatic side-wall cleaning function. The design concept of the robot adopts innovative and simple triangular structure and system integration. With simple control and path planning, side-wall cleaning can be achieved.
In this research, in order to balance the torque generated by the propeller at each side, two propellers at each side rotating clockwise and counter-clockwise were adopted in the design. Moreover, the propeller sets could be rotated upward or downward to certain angles from the horizontal plane to drive the robot moving up or down. This design replaced the propeller in the center of the robot for Z-axis movement, leaving more space inside the robot for circuits and other modules. To detect the corner during the automatic cleaning, the polyimide corner sensors, each equipped with two strain gauges, were attached at the vertices of the triangular robot. As for cleaning module, the shape of the cleaning pads was designed to cover larger area and also to consider cleaning needs at corners. In addition, the empty column space in the cleaning modules can be used for weight balancing. Rapid prototyping techniques were utilized to generate parts and molds for the robot prototype. The overall size of the robot is 250mm×220mm×80mm. The robot prototype was assembled and underwater tested. The test results showed that the robot can perform not only side-wall cleaning by manual control, but also automatic cleaning in accordance with a predetermined path.

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