学校名称云林科技大学 队伍名云科A队

1、學校名稱：雲科技大學隊伍名：雲科A隊(School：National Yunlin Uni. of Sci. & Tech.) (Team name：NYUST A TEAM)1：教師 : 王永成主要研究域為精密機械工程與測技術。針對此一專題之製作，提供機構設計、驅動系統規劃及動態功能安排方面之建議。俾以結合與實務，進而達到機器人之機構、造型與動作方面有所創意。(Advisor :Yung-Cheng Wang)The main research fields include precision mechanical engineering and measurement techno

2、logy. For completion of this student topic, some recommendations about construction design, driver system and dynamic functions have been offered. By integration of theory and practice, the creative construction, formation and motion of this developed robot can be realized.2：學生第1位 : 謝富吉 (1st team me

3、mber:Fu-Ji Shie) 組長：負責小組工作協調、初步模型設計與製作、財務管理、小組攝影、小組採購、現場加工、配線、書面報告之設計篇撰文。Group leader: responsible for coordination of group works, design and completion of the preliminary model, finical management, group photography, group purchase, manufacture, cable arrangements, writing the final report.3：學生第2位

4、 : 李咸學(2nd team member:Shian-Shiue Li)組員：負責小組工作協調、整體模型製作、小組採購、現場加工、床加工、銑床加工、配線、電焊接、書面報告之設計篇撰文、機構功能測試員、AutoCad繪圖。Group member: responsible for coordination of group works, design and manufacture of the whole model, group purchase, manufacture, cable arrangements and welding, writing report, function

5、tests of construction, and drawing by AutoCAD.4：學生第3位 : 賴光明(3rd team member:Kuang-Ming Lai)組員：負責整體模型設計與製作、小組討紀、小組攝影、小組採購、現場加工、銑床加工、書面報告之設計篇撰文、SolidWorks繪圖設計、本組操作手。Group member: responsible for design and manufacture of the whole model, group meeting recorder, group photography, group purchase, manuf

6、acture, cable arrangements, writing and designing part in the final report, and drawing by solid work. He is the robot operator of this group.5：機器人特色(Robot Characteristics)5.0概說(Abstract)快！狠！準！是本組設計最高的目標，而僅是要本體動作精簡，我們希望在速度與穩定度方面可以提升，因此我們這一台機器人，除了注重速度之外，最重視的就是穩定度，兩者相輔相成。過彎時的順暢度、下斷崖、過斷橋等關卡，強調整個動作要一氣呵成

7、，既乾淨且俐落。Quick, sharp and precision! It is the ultimate goal of our design. But not only the robots movement must be simply; we hope more promotion in the speed and the stability, therefore our robot, besides the speed, stability is the most important. To reach a smooth turn, falling from the cliff,

8、passing the breaking bridge and checkpoint so on, the whole action must be executed rapidly and elegantly.5.1機構(Mechanism)由於開始時缺乏經驗，以至於在設計部分機構時，發生許多一次又一次失敗，但是經過改後所得到的心得是，機構越複雜但修護或著拆裝過程會有很大的阻礙，可是如果用簡單的構造就可以達到一樣的效果，但可以減少許多必要的動與減輕重。我們利用汽車後輪驅動方式行進，再利用鋼絲線搭配捲線器將機器升起完成登桿動作。利用彈簧與滑軌於轉彎處可以將輪子中心距拉長以便過彎。斷崖處我們是利

9、用連桿機構及定位輪可以在機身傾倒時還可對準軌道，並利用緩衝機構完成動作。In the beginning we were lacking in experience. There were many failures during the construction design. The conclusion after these failures is that a simple construction is better than complicated one. Because repair of the simple construction is easier. And the

10、weight of the simple construction can be reduced. We use the automobile rear wheel for forward, and using the steel wire thread to raise the machine for completion of the pole movement. By springs and guides the center distance of wheels can be lengthened for better turning at curvature. At cliff th

11、e link motion gear and the localization wheel are used to complete the movement using the damper mechanism.5.2底盤(Chassis)因為此次比賽是於軌道上行進，所使用的地方不多。因此我們在設計底盤時，盡量的精簡。精簡的同時必須要具備直線性，以便提升登桿的速度。Because the rule of this competition is motion on the track. The touch points are few. Therefore we design the chas

12、sis, as far as possible simplifying. At the same time straightness also must be considered, in order to promote the speed of ascending the pole.5.3控制(Control)要贏得比賽，除要有優的機構設計外，控制環節也是比賽的勝、敗關鍵要素；設計控制面板只是單純的設計一個開關使馬達轉動，還要再思考如何能使操作者操作起加得心應手，當初設計機器人的宗旨就是用最簡單的機構設計達到所要的動作，如此可節材使用又可低機器人重。Except the excellent

13、 construction design, the key point to win the competition is control part. The control panel should offer a switch to regulate the motors as well as simple operation functions to let the operator react efficiently. The original aim of this design is to satisfy all necessary functions by simple mech

14、anical construction. Then the material for robot can be saved and the weight of robot can be also reduced.5.4機電(Mechatronics)電源方面使用3顆6V 2.3安培之電瓶，目的是可調整電壓因應同的場合使用，當需要快速直線移動時就換到18V，需要慢速微調過彎時就換到12V，控制只是用3P按鈕開關達到轉換效果。The power supplier is established by series connection of three 6V/2.3A storage batteri

15、es. Goal of this setting is to obtain adjustable voltages for different applications during the motion. For rapid motion it will be switched to 18V and for slow regulation it will be switched to 12V. The change of voltages needs the 3P switch.6：參賽心得 (Highs and Lows)在設計以及製作過程中，常會遇到些挫折，雖然過程很辛苦，但挫折終究還是

16、需要克服，當問題解決那一刻，那種喜悅感真是無法形容，讓我解到勇於面對挫折才能解決問題；比賽雖然只有短短的3天，俗話說：台上一分鐘，台下十年功在事前的準備工作是非常辛苦難熬的，但在過程中得到老師與學長的指導以及同學們的鼓勵讓我們有動力支撐下去，我想這樣辛苦就值得吧！During the process of design and manufacture, some frustrated problems have been often faced. Even though it was very hard for us, these problems must be overcome. When a problem has been solved, the gladness was really indescribable. That lets us to know, a problem can be solved, only if we face the frustration. Though the competition h