電動掃街車在台灣市場尚屬於未開發狀態，除了，油壓泵、鼓風機機馬達、車用控制器MUC為歐美供應外，其餘零件組在台灣皆有供應，但未有整車製造廠商投入相關研究。市面上之電動掃街車皆自國外進口，代理商僅負責販售，無技術負責技術開發。雖然，電動掃街車屬於特種環保車輛，但車輛前端配備油壓機械手臂，吊掛油壓掃刷，由電池驅動油壓單元，提供油壓動力源供油壓掃刷進行清掃工作，再由吸塵模組/集塵系統收集清掃物。
本研究，針對油壓機械手臂裝載在電動行動載具(電動掃街車或特種環保車輛)底盤上，油壓機械手臂在作動時，其力矩大小會影響到底盤結構耐用性及車輛配重問題。由於，電動行動載具為屬於動態模式，油壓機械手臂本身動作，還得考慮電動行動載具之動作，因此，以兩組油壓機械手臂透過驗證研究來確保其安全性。底盤結構在整車設計即完成，車體製造廠只能依底盤商提供之底盤再安裝所需模組，以焊接或者鑽孔方式進行底盤結構改變，此部分也是本研究驗證之項目。
本研究為油壓機械手臂驗證，設計與實作手臂驗證平台，仿照油壓機械手臂與電動行動載具之安裝部位，透過ISO-9283量測系統分析油壓機械手臂的位置準確度(Accuracy)及重複性(Repeatability)與距離的準確度(Accuracy)及重複性(Repeatability)，再以5倍安全係數荷重進行位置準確度及重複性與距離的準確度及重複性驗證油壓機械手臂之設計。驗證平台仿照行動載具之底盤結構，以相同厚度之鋼板進行鑽孔，再以固定銷做為機械手臂與平台結合，底座鋼板之結構承受力受鑽孔孔徑及固定銷影響而降低，因此，量測底盤結構的鋼板厚度變化，來驗證行動載具之底盤結構強度。本研究，可做為產業之規格制訂參考標準。

Electric street sweepers are not yet developed in the Taiwan market. Except for the hydraulic pump, blower motor, and vehicle controller MUC, which are supplied to Europe and the United States, the rest of the components are available in Taiwan. However, no vehicle manufacturer has invested and not much engineering researches have been devoted in electric street sweepers in Taiwan. Although the electric street sweeper is a special environmental protection vehicle, the front end of the vehicle is equipped with a hydraulic manipulator arm, and the hydraulic brush is suspended. In the research of this master thesis, the hydraulic manipulator mounted on the chassis of an electric mobile vehicle is designed and investigated to fulfill ISO requirements and to satisfy engineering design specifications.
This thesis is aimed at verification of the hydraulic manipulator, the design and implementation of the arm verification platform, and imitating the installation parts of the hydraulic manipulator and the electric mobile vehicle through measurement system to analyze hydraulic manipulator’s position accuracy and repeatability with safety factor of 5 in loading. It was concluded that the proposed system satisfies the ISO requirements for safety and product engineering specifications. This study can be used as a reference standard for industry specification formulation.

計 劃 書 目 錄
圖目錄 ⅵ
表目錄 ⅷ
第一章 緒論 1
1.1 研究背景 1
1.2 歷史背景與發展 2
1.3 文獻回顧 10
1.4 機械手臂種類 13
1.4.1 以驅動方式分類 13
1.4.2 以自由度分類 14
1.5 研究動機與研究目標 15
1.6 研究架構 19
第二章 油壓機械手臂模型建構與模擬 20
2.1 前言. 20
2.2 油壓機械手臂的機構設計概念 20
2.3 油壓機械手臂Solidworks建模 22
2.4 關鍵部位承受力推導 26
2.5 運動軌跡模擬 32
第三章 油壓機械手臂控制系統架設 34
3.1 前言 34
3.2 油壓控制系統 36
3.2.1 油壓迴路 36
3.2.2 動力系統 37
3.3 油壓控制 41
3.4 油壓缸模擬參數 44
3.5 模擬結果與分析 47
3.6 油壓機械手臂製作與組裝 48
第四章 油壓機械手臂驗證系統建構與架設 50
4.1 前言 50
4.2 量測方法 51
4.2.1 參數設定 51
4.2.2 位置準確度Pose accuracy(AP) 53
4.2.3 位置重複性Pose repeatability (RP) 53
4.2.4 距離準確度Distance accuracy(AD) 54

4.2.5 距離重複性Distance repeatability(RD) 56
4.3 量測系統架設 56
第五章 實驗結果與分析 58
5.1 實驗規劃 58
5.2 實驗結果 59
5.3 分析實驗結果 61
5.4 量測結果綜合性探討 61
第六章 結論與未來展望 63
6.1 總結 63
6.2 本文貢獻 63
6.3 未來展望 64
參考文獻 66

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